Naslov
Pronalaženje i lociranje mobilnog manipulatora u strmom vinogradu pomoću bespilotne letjelice
(Finding and locating a mobile manipulator in a steep vineyard using a UAV)

Autori
Cihlar, Karlo Valentin

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad, diplomski

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
14.07

Godina
2022

Stranica
27

Mentor
Kovačić, Zdenko

Neposredni voditelj
Hrabar, Ivan

Ključne riječi
HEKTOR ; VIV ; detekcija ; neuronska mreža ; vinograd ; bespilotna letjelica
(HEKTOR ; VIV ; object detection ; neural network ; vineyard ; UAV)

Sažetak
Hard physical work in the vineyard can have a negative impact for human health. Within the HEKTOR project, a system was developed for monitoring and performing work in the vineyard with the help of autonomous robots - unmanned aerial vehicle and a mobile manipulator. In order to locate the mobile robot in case of failure or jamming, an algorithm for detecting and finding the VIV mobile robot in a steep vineyard was developed in this thesis. Different detection methods were tested and finally neural network detection was selected. A dataset with VIV images was created and a YOLOv5 deep convolutional neural network was trained for detection on that data set. The network gives very good results, correctly detecting the robot in most cases with a high level of confidence (>=0.65) on unseen data. This makes it easy to find the mobile robot in the vineyard. In the future, a more efficient method of searching vineyards can be implemented and the dataset can be expanded to make neural network even more robust.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA