Multifunction autonomous mobile robotic platform

Magistrska naloga opisuje celovit postopek razvoja, izdelave in zagona multifunkcijske avtonomne mobilne platforme. Opisuje načrtovanje in izdelavo mehanskih, električnih in elektronskih komponent avtonomno vodene multifunkcijske robotske platforme, ki jo je moč nadgraditi oz. uporabiti v najrazličnejših aplikacijah, npr. kot avtonomni invalidski voziček, snemalno vozilo, transportni voziček v proizvodnji. Pogonski sistem ima za osnovo dva kolesna enosmerna motorja, ki ju krmili elektronsko vezje dveh H-mostičev, krmiljenih z mikrokrmilnikom. Kot vir napajanja je uporabljen baterijski komplet, ki je nadgrajen s sistemom za upravljanje baterij (BMS). Vodenje platforme je izvedeno z uporabo mobilnega telefona, ki zajema podatke iz kotov zasuka okoli posameznih osi in hitrosti spreminjanja teh kotov ter jih preko brezžične komunikacije pošilja na mikroračunalnik platforme. Opisana je tudi programska oprema platforme in mobilne aplikacije. Celotna robotska platforma ponuja dovolj veliko zanesljivost, nosilnost in robustnost, in predstavlja temelj za nadaljnje nadgradnje.Master thesis describes an integrated process of development, manufacturing and commissioning of an autonomous multifunctional mobile platform. It describes the design and manufacture of mechanical, electrical and electronic components of autonomously controlled multifunction robotic platform that can be upgraded and used in a variety of applications, for example as an autonomous wheelchair vehicle, autonomous transport trolley in production, etc.. The propulsion system is based on two in-wheel motors, which are controlled by electronic circuitry consisting of two H-bridges, controlled by the microcontroller. As the power source a battery pack is used, which has been upgraded with a battery management system (BMS). Control of the platform is implemented using a mobile phone, which obtains data about the angles of rotation about each axis and the rate of change of these angles. This data is later sent over the wireless communications to the platform\u27s microcomputer. Also the platform software, and mobile application software are described. The entire robotic platform offers sufficient reliability, capacity and robustness, and is the foundation for further upgrades