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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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Optimization of four-bar mechanism geometry for the predescribed trajectory
Korytár, Lukáš ; Sova, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with the optimization of arm lengths of four-bar RRRR mechanism using matrix kinematics. It compares and describes the methods, which are available in MATLAB software environment for this purpose. Consequently, an optimization algorithm using fmincon function is designed for which Monte-Carlo algorithm performs the first estimates. Elementary requirements for the proposed algorithm are devised in order to accurately duplicate the predescribed trajectory.
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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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|
|
Optimization of four-bar mechanism geometry for the predescribed trajectory
Korytár, Lukáš ; Sova, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with the optimization of arm lengths of four-bar RRRR mechanism using matrix kinematics. It compares and describes the methods, which are available in MATLAB software environment for this purpose. Consequently, an optimization algorithm using fmincon function is designed for which Monte-Carlo algorithm performs the first estimates. Elementary requirements for the proposed algorithm are devised in order to accurately duplicate the predescribed trajectory.
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