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Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа
Neural Networks Based Control System of a Mobile Robot for Obstacle Avoidance in 2D Space
dc.creator | Mitrović, Stefan | |
dc.creator | Jakovljević, Živana | |
dc.creator | Dimić, Zoran | |
dc.creator | Miljković, Zoran | |
dc.date.accessioned | 2023-02-24T07:13:39Z | |
dc.date.available | 2023-02-24T07:13:39Z | |
dc.date.issued | 2016 | |
dc.identifier.isbn | 978-86-7083-893-2 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4558 | |
dc.description.abstract | U okviru ovog rada predstavljeni su inicijalni rezultati istraživanja u kreiranju sistema za upravljanje mobilnim robotom za kretanje u 2D prostoru sa preprekama. Sistem je zasnovan na upotrebi veštačkih neuronskih mreža i infracrvenih senzora rastojanja. Softversko rešenje je primenjeno na mikrokontroleru, sa ciljem da se upotrebom minimalne hardverske konfiguracije postigne adekvatan nivo mogućnosti snalaženja u prostoru. Opisane su korišćene veštačke neuronske mreže, dati su algoritmi upravljačkog i pomoćnog softvera i opisani su eksperimentalni rezultati. Projektovani sistem upravljanja uspešno je testiran na mobilnom robotu „Buggy“ u okviru eksperimentalnog okruženja postavljenog u Lola institutu. | sr |
dc.description.abstract | In this paper, a neural networks based control system of a mobile robot for obstacle avoidance in 2D space is proposed. The system utilizes infrared distance sensors and neural networks for navigation around obstacles. Developed control software is implemented within microcontroller for achieving the adeqate level of space awareness while maintaing hardware configuration at a minimum. Developed neural networks will be described, along with control and auxiliary software and experimental results. Proposed control system has been successfully tested on a Mikroe Buggy mobile robot at Lola institute in Belgrade. | sr |
dc.language.iso | sr | sr |
dc.publisher | JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35004/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | 40th JUPITER Conference : Proceedings, Beograd, maj 2016 | sr |
dc.subject | 2D prostor | sr |
dc.subject | Veštačke neuronske mreže | sr |
dc.subject | Mobilni robot | sr |
dc.subject | Zaobilaženje prepreka | sr |
dc.subject | Mikrokontroler | sr |
dc.title | Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа | sr |
dc.title | Neural Networks Based Control System of a Mobile Robot for Obstacle Avoidance in 2D Space | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY | sr |
dc.rights.holder | Prof. Bojan Babić | sr |
dc.citation.epage | 4.28 | |
dc.citation.rank | M63 | |
dc.citation.spage | 4.18 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/10971/bitstream_10971.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4558 | |
dc.type.version | publishedVersion | sr |