Simulator mobilnega robota v skladiščnem okolju, zasnovan v okoljih Unity in Matlab

V okviru magistrskega dela smo ustvarili orodje za simulacijo kolesnih mobilnih robotov v skladiščnih okoljih. Orodje sestavljata dva ključna gradnika: simulator mobilnega robota in sistem vodenja. Simulacija je realizirana v razvojnem okolju Unity, vodenje pa v okolju Matlab-Simulink. Med seboj komunicirata preko internetnega komunikacijskega protokola UDP. Simulacija je namenjena predvsem, da služi kot učni pripomoček študentom robotike. Dodatno smo implementirali še nekaj pogostih algoritmov vodenja, ki služijo kot primeri uporabe razvite rešitve. V uvodnih dveh poglavjih magistrske naloge je predstavljena tematika kolesnih mobilnih robotov: njihova umestitev v robotiki in industriji, njihova tipična okolica in senzorika. Poudarek je na razumevanju elementov mobilnih robotov, ki bodo relevantni v kasnejših poglavjih kot del simulacije. V naslednjem poglavju je predstavljena simulacija, ki smo jo ustvarili v okviru tega dela. Za pomoč pri razumevanju so na kratko predstavljene glavne uporabljene komponente in pomembni pojmi okolja Unity. Razloženi so vsi ključni elementi programa: kontrolnik kamere, kontrolnik grajenja, sistem shranjevanja in nalaganja, simulacija samega robota in implementacija UDP komunikacije z okoljem Matlab-Simulink. Predstavljene so tudi implementacije simuliranih senzorjev: svetlobni merilnik razdalje Lidar, senzor za sledenje črti in senzor za zaznavo NFC značk. V nadaljevanju je predstavljenih nekaj pogostih rešitev iskanja optimalne poti za mobilne robote: algoritem Dijkstra, algoritem A* ter iskanje v širino in iskanje v globino. Podrobno je predstavljena tudi izvedba algoritma A*, ki je bila v okviru tega magistrskega dela implementirana v okolju Matlab. V sklepnem delu je predstavljenih še nekaj najpogostejših algoritmov vodenja, ki smo jih kot primer uporabe za končnega uporabnika simulacije razvili v okolju Matlab-Simulink. Gre za algoritme vodenja v točko, vodenja po črti in izogibanja trkov. Within the scope of this thesis, we created a tool for simulating wheeled mobile robots in warehouse-like enviroments. It contains two key elements: a mobile robot simulator and its control system. The simulation was created in Unity development platform and the control system was made in Matlab-Simulink environment. The two elements communicate via the UDP internet communcication protocol. The simulation is intended to serve as a learning assist to robotics students. Additionally, we implemented a few common control algorithms, which serve as usage examples of the developed solution. In the opening two chapters of the thesis, the topic of wheeled mobile robotics is presented: its place in robotics and industrial applications, their typical environment and sensorics. An emphasis is placed on understanding those elements of mobile robots, that will be relevant in the upcoming chapters as parts of the simulation. Next chapter presents the simulation, that was created in the scope of this thesis. The most important used components and concepts of Unity environment are briefly explained to aid the reader's understanding. Key elements of the program are explained: a camera controller, a building controller, a save and load system, the robot simulation itself and the implementation of communication between the two used environments via UDP. Additionally, implementations of simulated sensors are also presented: Light ranging and detection sensor (Lidar), Line following sensor and NFC tag reader. Afterwards, a few common optimal path finding solutions are presented: Dijkstra's Algorithm, Algorithm A*, Breadth-first Search and Depth-first Search. The chapter also contains a detailed explanation of the implemented A* algorithm. A few of the most common control algorithms are presented in the closing chapter. We developed the following control algorithms in the Matlab-Simulink environment: control to point, line following control and obstacle avoidance. These serve as usage examples for the end user of the developed simulation.