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Covering the Working Space of Mobile Robot
Krejsa, Jiří ; Věchet, Stanislav
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
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Multiple Indoor Robot Localization Using Infrared Beacons
Krejsa, Jiří ; Věchet, Stanislav ; Chen, K.-S.
Mobile robot localization based on active artificial landmarks is well established robust technique in indoor mobile robotics. This paper explores the extension of the method to multiple robot localization, with the key idea of using the robots themselves as the artificial landmarks, supplying other robots in the group with its estimate of position. The method uses nonlinear version of Kalman filter for determination of position estimate in 2D space, x-y coordinates and angle with respect to global coordinate system, with the estimate represented by mean values and corresponding covariances. Simulation results based on model well verified with the real system suggest that while only small reduction of number of fixed active landmarks can be achieved, the main advantage of the method is in increased robustness of localization technique with respect to obscured landmarks fields of view.
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Autonomní robot pro měření uzavřených prostor
KLUGER, Ondřej
Bakalářská práce se zabývá vytvořením mobilního robotického prostředku pro měření uzavřených prostor. Popisuje jednotlivé komponenty mobilního robotu a jejich funkci. Dále se práce zaměřuje na různé druhy podvozků mobilních robotů a jejich vhodnost pro konkrétní aplikaci.
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Mobile Robot Tracking Using Image Processing
Krejsa, Jiří ; Věchet, Stanislav ; Ripel, T.
During the evaluation of autonomous mobile robot navigation routines the determination of true robot position on its track is essential. The paper presents simple yet reliable method of tracking robot position using processing of images acquired from the devices positioned above the operation space. The method consists of two steps for each image: detection of the robot in image space and transfer of its coordinates to operation space.
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Mobile robot motion planner via neural network
Krejsa, Jiří ; Věchet, Stanislav
Motion planning is essential for mobile robot successful navigation. There are many algorithms for motion planning under various constraints. However, in some cases the human can still do a better job, therefore it would be advantageous to create a planner based on data gathered from the robot simulation when humans do the planning. The paper presents the method of using the neural network to transfer the previously gained knowledge into the machine learning based planner. In particular the neural network task is to mimic the planner based on finite state machine. The tests proved that neural network can successfully learn to navigate in constrained environment.
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Markovská lokalizace pro mobilní roboty: simulace a experiment
Krejsa, Jiří ; Věchet, S.
Lokalizací robotu se míní odhad jeho polohy na základě senzorických údajů. Článek popisuje základní principy metody Markovské lokalizace, úspěšně použité pro danou úlohu. Metoda je robustní vůči chybám sensorů a je schopná určit polohu robota i v případě že je tato zcela neznámá. Článek obsahuje jak simulační tak experimentální verifikaci použitelnosti metody.
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