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Optimizacija krmiljenja robotskega sledilca črti z metodo gradientnega spusta : zaključna naloga Razvojno raziskovalnega programa I. stopnje StrojništvoKrasnik, MarkoZaključno delo obravnava uporabnost metode gradientnega spusta za optimizacijo krmilnih parametrov robotskega sledilca črti. Za preizkušanje je bil potreben program, naložen na mikrokrmilnik ... robotskega sledilca, ki poleg krmiljenja robota z uporabo gradientnega spusta išče optimalne vrednosti krmilnih parametrov. Preizkusi so potekali na testni progi, optimalne vrednosti krmilnih parametrov pa so izbrane tako, da je čas prevoza proge čim krajši. Izdelane so bile tri različice programa z manjšimi spremembani, z vsako od njih pa je bilo opravljenih več preizkusov. Z analizo rezultatov je bilo ugotovljeno, da je gradientni spust primerna metoda za optimizacijo krmilnih parametrov, saj je bil čas prevoza proge ob koncu preizkusov precej krajši. Za čim boljšo izvedbo optimizacije je pomembna tudi pravilna izbira kriterijske funkcije ter poznavanje, kako krmilni parametri vplivajo drug na drugega.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [M. Krasnik], 2019Language - slovenianCOBISS.SI-ID - 16931355
Author
Krasnik, Marko
Other authors
Vrabič, Rok
Topics
diplomske naloge |
robotski sledilci črt |
PID krmiljenje |
gradientni spust |
optimizacija |
strojno učenje |
line following robots |
PID control |
gradient descent |
optimisation |
machine learning
Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
reading room 1 cop.
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Krasnik, Marko | |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
and: SICRIS
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