Simulacija metode za autonomno istraživanje mora primjenom heterogenog robotskog sustava

undergraduate thesis

• Title (english): Simulation of the method for autonomous exploration of a sea by using heterogeneous robotic system
• Author: Leo Patrlj
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Ana Milas (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu napravljene su simulacije multi-agentskog podvodnog robotskog sustava. Ideja je bila ispitati kako bi sustav istraživao morsko dno u cilju traženja područja na kojima se javlja slaba ili skoro nikakva zasićenost kisikom (anoksija). Zbog mogućih neispravnosti mjernih uređaja i senzora bilo je bitno kako riješiti problem ispravnog tumačenja isčitanog mjerenja. Na temelju te premise napravljena je simulacija istraživanja podmorja uz modelirana područja anoksija te pojave grešaka u mjerenjima. U konačnici su se algoritmi pokazali zadovoljavajući te je simulacija uspješno uklonila i ispravila bilo kakva pogrešna očitanja.

Abstract (english)

This paper contains simulations of a multi-agent underwater robotic system. The main idea was to simulate the exploration of the bottom of the sea with an autonomous robotic swarm in order to find places where oxygen saturation is really low or even non existent (phenomenon called anoxia). Because of possible imperfections of the sensors, a problem occured while accurately interpreting their readings. Based on that assumption several simulations were made with modelled places where anoxia occures and properly modelled sensor failure. in the end the algorithms have been proven satisfactory and the simulation has successfully filtered out any false sensor readings, keeping the outlier readings intact.

• Keywords: autonomni multi-agentski robotski sustav; istraživanje podmorja; algoritmi pretraživanja; aPad; aMussel; anoksija
• Keywords (english): autonomous multi-agent robotic system; sea exploration; exploration algorithms; aPad; aMussel; anoxia
• Language: croatian
• URN:NBN: urn:nbn:hr:168:388480
• 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: 2023-01-13 15:47:53