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Controlling of Robot with Ackermann Steering
Fryč, Martin ; Žák, Marek (referee) ; Rozman, Jaroslav (advisor)
In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.
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Design of mobile robot simulation model suitable for ROS framework
Čepl, Miroslav ; Vojáček, Zdeněk (referee) ; Věchet, Stanislav (advisor)
This thesis focuses on motion models of autonomous robots. In the first section the framework ROS is introduced and creation of models for this framework is mentioned. The second section focuses on various types of robots and discusses their suitability for the framework ROS. Basic kinematic models for the most common robots are shown. In the third section a particular chassis is chosen, a motion model is experimentally determined and the results are tested on a control set of data.
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Controlling of Robot with Ackermann Steering
Fryč, Martin ; Žák, Marek (referee) ; Rozman, Jaroslav (advisor)
In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.
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Design of mobile robot simulation model suitable for ROS framework
Čepl, Miroslav ; Vojáček, Zdeněk (referee) ; Věchet, Stanislav (advisor)
This thesis focuses on motion models of autonomous robots. In the first section the framework ROS is introduced and creation of models for this framework is mentioned. The second section focuses on various types of robots and discusses their suitability for the framework ROS. Basic kinematic models for the most common robots are shown. In the third section a particular chassis is chosen, a motion model is experimentally determined and the results are tested on a control set of data.
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