Original title:
Základy geometrické teorie řízení
Translated title:
Foundations of geometric control theory
Authors:
Čulák, Michal ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor) Document type: Bachelor's theses
Year:
2020
Language:
slo Publisher:
Vysoké učení technické v Brně. Fakulta strojního inženýrství Abstract:
[slo][eng]
Táto bakalárska práca sa zaoberá popisom algoritmu riadenia trident snake robota. Jeho model je vytvorený pomocou prostriedkov diferenciálnej geometrie. Ovládateľnosť robota zabezbečuje Lieova algebra, generovaná základnými vektorovými polami a ich Lieovými zátvorkami. Systém je aproximovaný pomocou nilpotentnej aproximácie. V práci je navrhutý a popísaný algoritmus riadenia s počastiach konštantným vstupom. Tento algoritmus je navyše odvodený pre trident snake robota. Nakoniec sú simulované a vykreslené vybrané pohyby trident snake robota v prostredí MATLAB.
This bachelor thesis deals with the description of algorithm for motion planning of trident snake robot. His model is created by means of differential geometry. The controllability of the robot is provided by Lie algebra, generated by elementary vector fields and their Lie bracket. The system is approximated by nilpotent approximation. In this thesis is proposed and described algorithm of motion planning with piecewise constant input. This algorithm is further derived for trident snake robot. Finally, selected motions of trident snake robot are simulated and portrayed in enviroment called MATLAB.
Keywords:
control theory; MATLAB; motion planning; nilpotent approximation; nonholonomic system; piecewise constant input; simulation; trident snake robot
Institution: Brno University of Technology
(web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library. Original record: http://hdl.handle.net/11012/191719