Sustav upravljanja mobilnog robota preko Bluetooth komunikacije

undergraduate thesis

• Title (english): Mobile robot control over Bluetooth communication
• Author: Anton Božić
• Mentor: Igor Erceg (mentor)
• Committee member: Igor Erceg (predsjednik povjerenstva)
• Committee member: Luka Pravica (član povjerenstva)
• Committee member: Ivana Pavlić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-09-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj rad se bavi konstrukcijom modela mobilnog robota TI-RSLK Maze Edition tehnološke kompanije Texas Instruments te njegovim upravljanjem preko Bluetooth komunikacije. Opisivanjem principa rada svake od komponenata od kojih je robot izgrađen, ugradnjom tih komponenata te programiranjem programa upravljanja tog robota. Komponente od koji je robot izgrađen su: mikrokontroler The SimpleLink™ MSP432P401R LaunchPad™ development kit, MDPDB driver za regulaciju napona, 2 DC motora, 2 kotača, linijski senzor, dodirni senzor, Bluetooth CC2650 BoosterPack modul te šasija. Detaljnim opis funkcija zaduženih za kontrolu linijskog senzora, dodirnog senzora, MDPDB-a, mikrokontrolera te Bluetooth modula. Robot se pokreće pomoću naredbe zadane preko mobilnog uređaja s LightBlue aplikacije povezane preko Bluetooth komunikacije s robotom. Nakon pokretanja, robotom upravlja algoritam temeljen na konačnim stanjima automata, implementiran u upravljačkoj funkciji spremljenoj u memoriji mikrokontrolera. Zadatak algoritma je upravljanje gibanjem i navođenjem robota po crnoj traci na bijeloj podlozi pomoću linijskog senzora s mogućnošću reakcije na predmet ispred njega pomoću dodirnog senzora. Navedeni sustav se testira te rezultati testiranja se prokomentiraju.

Abstract (english)

In this paper is described the construction of a mobile robot model TI-RSLK Maze Edition made by Texas Instruments company and its management via Bluetooth communication. Describing the working principle of each component of which the robot is built, incorporating these components together, and programming the robot management program. The components from which the robot was built were: the microcontroller The SimpleLink ™ MSP432P401R LaunchPad ™ development kit, MDPDB voltage control driver, 2 DC motors, 2 wheels, line sensor, touch sensor, Bluetooth CC2650 BoosterPack module and chassis. Contains a detailed description of the functions responsible for controlling the line sensor, touch sensor, MDPDB, microcontroller and Bluetooth module. The robot is started with the command set given by the mobile device with the LightBlue application connected via Bluetooth communication with the robot. After the startup, the robot is managed by the finite state machine algorithm, implemented in the control function which is stored in the microcontroller memory. The task of the algorithm is to control the motion and navigation of the robot following the black tape on a white background using a line sensor with the ability to react to the subject in front of it using a tactile sensor. The above system is tested and the test results are discussed.

• Keywords: PWM signal; mikrokontroler; MDPDB; Bluetooth komunikacija; linijski senzor; dodirni senzor; motor; crna traka; IR LED-ica; faktor vođenja; ciklički prekid; prekid na padajući brid; brojač; automat konačnih stanja
• Keywords (english): PWM signal; microcontroller; MDPDB; Bluetooth communication; line sensor; touch sensor; motor; black tape; IR LED; duty cycle; cyclic interrupt; falling edge interrupt; timer; finite state machine
• Language: croatian
• URN:NBN: urn:nbn:hr:168:274752
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 16:57:07