Razvoj adaptivnog regulatora za Mjesečevo vozilo

master's thesis

• Title (english): Development of an adaptive controller for a lunar rover
• Author: Lea Matleković
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ljudska znatiželja ne poznaje granice. Nakon prvih ljudi u Svemiru sve je veća ambicija ze slanjem robota. Svemir nam je i dalje velika enigma i želimo na što sigurniji način istražiti sve njegove pojave. Tehnologija je napredovala do razine gdje mobilni roboti djeluju autonomno i obavljaju zadatke bez ljudske pomoći. Cilj ovoga rada je projektirati i primijeniti algoritam adaptivnog upravljanja na Mjesečevo vozilo LUVMI-X. U tu svrhu izrađen je matematički model vozila te dizajniran zakon upravljanja koristeći programski alat Simulink. Cilj regulatora je omogućiti praćenje puta, uzimajući u obzir klizanje kotača. Vozilo je modelirano u simulatoru Gazebo te je regulator implementiran i testiran.

Abstract (english)

Human curiosity is limitless. After sending the first human to outer space we started deploying robots. There are still many unanswered questions about the space and we want to find out the answers in a safe way. Developments in technology reached the level where mobile robots are acting autonomously and solving tasks without human help. In this thesis, an adaptive control algorithm for a lunar rover LUVMI-X will be developed. The controller is developed in the graphical programming environment Simulink and it uses a simplified kinematic model of the vehicle. The goal is to achieve path tracking, taking into account the wheel slip. The vehicle model and controller are implemented and tested in the Gazebo simulator.

• Keywords: mobilni robot; LUVMI-X; adaptivno upravljanje; regulator; praćenje puta; klizanje; Simulink; Gazebo
• Keywords (english): mobile robot; LUVMI-X; adaptive control; controller; path tracking; slip; Simulink; Gazebo
• Language: english
• URN:NBN: urn:nbn:hr:168:604714
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 09:16:38