Lokalizacija i upravljanje jatom autonomnih brodića

undergraduate thesis

• Title (english): Localization and control of an autonomous boat swarm
• Author: Dino Dubinović
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (član povjerenstva)
• Committee member: Đula Nađ (član povjerenstva)
• Committee member: Barbara Arbanas Pascoal Ferreira (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad napravljen je u svrhu modeliranja sustava za upravljanjem jatom autonomnih brodića i poboljšanja lokalizacije brodića u LABUST-ovom bazenu. U tu je svrhu razvijena simulacija autonomnih brodića s ciljem sposobnosti grafičke reprezentacije simuliranih brodića i njihova kombinacija s fizičkim brodićima. Dodatno, za poboljšavanje lokalizacije, razmatrane su teme poput kalibracije mjernih instrumenata i senzorska fuzija s pomoću linearnog Kalman filtera. Simulacija je napravljena s ROS2 node podrškom zbog potrebe za komunikacijom s ostalim prethodno razvijenim aplikacijama. Za razvoj simulacije, izabrane su raylib i Dear ImGui knjižnice za grafičko i korisničko sučelje. Na posljetku rada, uspješno je napravljena programska potpora za simulaciju jata autonomnih brodića te sam model upravljanja istim s pomoću Reynoldsovih pravila o jatima. Dodatno je razvijena i programska potpora za vizualizaciju senzorskih podataka u svrhu pomoći uspoređivanja podataka nakon kalibracije. Dok je sama simulacija autonomnih brodića uspješno izvedena, kalibracija senzora nije, te implementacija senzorske fuzije nije testirana. Simulacija opisana u ovom radu napisana je u modularnom stilu radi čega je primjenjiva u edukacijske svrhe te time ispunjava glavni cilj ovog rada.

Abstract (english)

This work was carried out for the purpose of modeling a system for managing a swarm of autonomous boats and improving the localization of the boats in the LABUST pool. To this end, a simulation of autonomous boats was developed with the aim of graphically representing the simulated boats and their combination with physical boats. Additionally, to improve localization, topics such as calibration of measuring instruments and sensor fusion using a linear Kalman filter were considered. The simulation was made with ROS2 node support due to the need for communication with other previously developed applications. For the development of the simulation, the raylib and Dear ImGui libraries were chosen for the graphical and user interface. At the end of the work, software support for the simulation of the swarm of autonomous boats was successfully created, as well as a control model for the same using Reynolds' flocking rules. Additionally, software support for the visualization of sensor data was developed to help compare data after calibration. While the simulation of the autonomous boats was successfully executed, the sensor calibration was not, and the implementation of sensor fusion was not tested. The simulation described in this paper is written in a modular style, making it applicable for educational purposes and thereby fulfilling the main goal of this work.

• Keywords: autonomni brodići; simulacija; lokalizacija; senzorska fuzija; vizualizacija; kalman filter
• Keywords (english): autonomous boats; simulation; localization; sensor fusion; visualization; kalman filter
• Language: croatian
• URN:NBN: urn:nbn:hr:168:324362
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-10-12 20:28:29