Izdelava krmilnika avtonomne jadrnice

• Main Author: Grmek, Rok
• Other Authors: Žabkar, Jure
• Format: Master Thesis
• Language: Slovenian
• Published: 2022
• Subjects: avtonomno plovilo; robotska jadrnica; mikrokrmilniki; autonomous vessel; robotic sailboat; microcontrollers; sami
• Online Access: https://repozitorij.uni-lj.si/IzpisGradiva.php?id=139159; https://repozitorij.uni-lj.si/Dokument.php?id=159698&dn=; https://plus.cobiss.net/cobiss/si/sl/bib/121276419; https://hdl.handle.net/20.500.12556/RUL-139159

Avtonomna plovila so najverjetneje prihodnost navtike. Ključna komponenta vsakega avtonomnega plovila je krmilnik, ki omogoča avtonomno plovbo. Izdelava takšnega krmilnika predstavlja številne izzive. Sami izdelamo krmilnik avtonomne jadrnice za manjšo robotsko jadrnico dolžine 2,4 m. Izdelavo krmilnika razdelimo na dva sklopa. Najprej poskrbimo za nizkonivojsko krmiljenje jadrnice, kjer sta predvsem pomembni regulacija kril in regulacija krmila. Ustreznost krmiljenja utemeljimo z rezultati praktičnega testiranja. V drugem sklopu pripravimo metodo za visokonivojsko načrtovanje plovbe in ogrodje za vrednotenje in analizo takšnih metod. Predlagano metodo primerjamo z metodami iz sorodnih del in opazimo, da predlagana metoda zahteva bistveno manjše spremembe v smeri plovbe kot ostale metode in posledično omogoča plovbo z nižjo porabo energije. Končno rešitev preizkusimo tudi s praktičnim testiranjem avtonomne plovbe, kjer opazimo ustrezno delovanje izdelanega krmilnika avtonomne jadrnice. Autonomous vessels are most likely the future of nautics. A key component of any autonomous vessel is the controller that enables autonomous navigation. The development of such a controller presents many challenges. We develop an autonomous sailboat controller for a small, 2.4 m long robotic sailboat. The development of the controller is divided into two stages. First of all, we take care of the low-level control of the sailboat, where the control of the wings and the control of the rudder are especially important. The adequacy of the control is justified by the results of practical testing. In the second stage, we develop a method for high-level path planning and a framework for the evaluation and analysis of such methods. We compare the proposed method with methods from related works and find that the proposed method requires significantly smaller changes in sailing direction than the other methods and consequently enables sailing with less energy consumption. We also test the final solution with practical testing of ...