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Národní úložiště šedé literatury Nalezeno 2 záznamů.  Hledání trvalo 0.01 vteřin. 
Simulation of Robotic Search of Lost Radiation Sources
 Cihlář, Miloš ; Lázna, Tomáš (oponent) ; Žalud, Luděk (vedoucí práce)
The master thesis considers simulating the outdoor environment and lost radiation sources in the Gazebo simulator and then deals with radiation search algorithms. Simulators play an essential role in research, and robotics companies widely use them. Simulation accelerates and facilitates testing, verification, and evaluation of developed algorithms. Therefore the thesis establishes a system based on ROS2 and Gazebo that simulates robot models. The performance of the simulation is evaluated. The work presents and compares a model of a four-wheel skid steering mobile robot with the model created in the simulator. In future work, this model comparison allows the improvement of the robot model simulation's parameters based on the real model tested. A solution is proposed for the trajectory tracking problem based on linear proportional-integral (PI) or optimal linear quadratic regulator (LQR). One method of modeling radiation sources and sensors to simulate radiation was suggested. The simulated radiation is compared with the measurement gained from a real (and simulated) outdoor experiment, in which the robot searches the radiation source. The thesis describes the particle filter designed for searching a lost radiation source.
Úplný záznam
Simulation of Robotic Search of Lost Radiation Sources
 Cihlář, Miloš ; Lázna, Tomáš (oponent) ; Žalud, Luděk (vedoucí práce)
The master thesis considers simulating the outdoor environment and lost radiation sources in the Gazebo simulator and then deals with radiation search algorithms. Simulators play an essential role in research, and robotics companies widely use them. Simulation accelerates and facilitates testing, verification, and evaluation of developed algorithms. Therefore the thesis establishes a system based on ROS2 and Gazebo that simulates robot models. The performance of the simulation is evaluated. The work presents and compares a model of a four-wheel skid steering mobile robot with the model created in the simulator. In future work, this model comparison allows the improvement of the robot model simulation's parameters based on the real model tested. A solution is proposed for the trajectory tracking problem based on linear proportional-integral (PI) or optimal linear quadratic regulator (LQR). One method of modeling radiation sources and sensors to simulate radiation was suggested. The simulated radiation is compared with the measurement gained from a real (and simulated) outdoor experiment, in which the robot searches the radiation source. The thesis describes the particle filter designed for searching a lost radiation source.
Úplný záznam

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