Differenciális mobilis robot szimulációja és szabályozása MATLAB környezetben

Hum, Kristóf (2021) Differenciális mobilis robot szimulációja és szabályozása MATLAB környezetben. UNSPECIFIED thesis, UNSPECIFIED.

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Abstract

This thesis is about the simulation and control of differential drive mobile robots implemented in MATLAB environment. Nowadays the usage of robotics is getting more and more widespread and besides its dynamic evolving these kinds of robots can be found in households as well, in form of robot vacuum cleaners. Moreover, differential drive is a simple and inexpensive type of mobile robot, therefore it is quite popular. To accomplish the control of these kinds of robots is simply done by changing the wheel’s angular velocity. This thesis is implemented in Simulink and MATLAB. Primarily MATLAB is a programming environment and language with a lot of useful frameworks, tools, programming libraries, used mainly by engineers, scientists, economists. Simulink is a MATLAB-based graphical programming tool for simulating, model and analyzing multidomain dynamical systems. Simulink is widely used in industrial automation, digital signal processing, and model-based design. The whole practical part of the thesis was built in MATLAB and Simulink. At the beginning of my work, I present the simple control of the robot in simulation. Then I apply simulated LIDAR data for the SLAM algorithm. At the end of the Thesis, I present a higher-level navigation and control algorithm's implementation, wherewith the robot is capable to cover an unknown area from its perspective, relying upon only the sensors.

Item Type:	Thesis (UNSPECIFIED)
Divisions:	Műszaki Intézet
Depositing User:	Gergely Beregi
Date Deposited:	10 May 2022 06:24
Last Modified:	10 May 2022 06:24
URI:	http://szakdolgozat.repo.uniduna.hu/id/eprint/252

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