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Information System for Organizers of Sailing Races
Vaňo, Peter ; Burget, Radek (referee) ; Bartík, Vladimír (advisor)
The aim of this thesis is to create an information system for organizers of sailboat races. The system is created as a web application with PWA in Java and TypeScript using the Spring and Angular frameworks. The main function of the system is the management of races and the registration of participants. The system also includes support for placing the race course and navigation to buoys afterward. During the work, importance was placed on expandability, reuse, and simplicity.
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Design and implementation of an obstacle avoidance method in an outdoor environment for a mobile robot
Fargač, Tomáš ; Králík, Jan (referee) ; Věchet, Stanislav (advisor)
This thesis focuses on investigating the usability of the optical flow method in image processing. Firstly, this method is introduced theoretically, followed by its mathematical derivation. Subsequently, the idea of implementing it into decision-making algorithms and potential areas of application is presented. The thesis also elaborates on suitable environments for such applications in both virtual and real worlds. The practical part demonstrates the step-by-step development process and the refinement of working with this method and its outputs. The work utilizes the Matlab programming environment and detailed work at the level of individual components in this programming language, enriched with auxiliary toolboxes, especially from the field of computer vision. The entire research is summarized clearly at the end, and all undertaken steps are depicted in a flowchart. Finally, all explored approaches with their strengths and weaknesses, identified throughout the process, are clearly presented.
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Real-time propojení senzorů pro navigaci
Kaczmarek, Adrian ; Rohm, Witold ; Klingbeil, Lasse ; Tchórzewski, Janusz
The development of satellite techniques in the field of precise positioning and the availability of mobile devices with a built-in multi-GNSS (Global Navigation Satellite System) receiver allow us to determine positions with better accuracy than a dozen or so years ago. At the same time, there is a growing demand from users for more and more accurate positioning while reducing the costs of the final device (e.g., a navigation system for autonomous lawn mowers). This work presents the concept of a solution that integrates different positioning techniques: gyroscopes, odometers, and GNSS using a loosely coupled Kalman filter. The sensor integration model was developed for horizontal components (2D) with simultaneous determination of azimuth and precise position. Additionally, the integration filter uses a dynamic weight matrix, the values of which are selected depending on the type of GNSS solution (FIX, FLOAT, etc.). Tests of the measurement platform were carried out under ideal conditions and in places where the horizon is obscured (passes along a high wall, under openwork steel trusses, etc.). The accuracies obtained during tests using EKF and the dynamic weight matrix are RMS 0.019 m for the North and East components. However, the accuracy of the azimuth determination was 0.59°. In addition, the presentation will present a platform concept that integrates low-cost sensors in real time.
This work was supported by Wroclaw University of Environmental and Life Sciences (Poland) under the project “POMOST” (grant no. N110/0002/22).
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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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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
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Development of electronic parking system
Šmíd, Josef ; Strecker, Zbyněk (referee) ; Paloušek, David (advisor)
This bachelor thesis deals with the development of the electronic parking system, which is intended to navigate the drivers to the nearest vacancies, using the Arduino platform. The introductory part deals with an overview of the current state of knowledge. The research section provides an overview of the Arduino base plates and other modules and sensors selected for conceptual design solutions. The construction part deals with the design of the casing according to the selected components and the subsequent realization of the whole device, including the program, for testing under real conditions. The test results are finally evaluated and summarized in the final discussion.
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Navigation Focused on Geocaching
Nohejl, Petr ; Mlích, Jozef (referee) ; Koutný, Jiří (advisor)
The thesis deals with design and implementation of application for navigation focused on game Geocaching. Program works on Windows Mobile platform. It allows users to read the information about cache fast and easily and via GPS navigation takes player to the cache. The theoretical section introduces GPS navigation issue, rules of Geocaching and description of aplication itself. The aim of the practical section is to create a program and test it in real environment.
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Visual Navigation of the Vehicle
Jaššo, Kamil ; Richter, Miloslav (referee) ; Horák, Karel (advisor)
The thesis consists of retrieval of known solutions of autonomous vehicle navigation. Thesis further describes options for controling autonomous vehicle, and using of sensors in autonomous vehicles. From different types of sensors are selected two types, that are most suitable for visual navigation of the vehicle. Thesis describes the function and way of using these two types of sensors in the visual navigation of the vehicle. The program for obtaining and saving data from selected sensors is also part of the thesis.
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Augmented Reality for Mobile Devices for Precise Urban Navigation
Murín, Michal ; Herout, Adam (referee) ; Beran, Vítězslav (advisor)
Diplomová práce je zaměřená na rozšířenou realitu a její realizaci pro mobilní platformu Android. V teoretické části je kladen důraz na obeznámení se s principy rozšířené reality, možnostmi její realizace pro mobilní platformu Android, která je také podrobněji představena. V praktické části se dále zaměřuje na návrh a realizaci knihovny a aplikace využívající tuhle knihovnu pro tvorbu rozšířené reality na platformě Android pomocí GPS a polohových senzorů. Aplikace slouží jako navigace a zobrazuje cestu ke konkrétnímu cíly, jak v podobě rozšířené reality, tak i na klasické dvourozměrné mapě. Práce podrobně popisuje navrhované řešení knihovny a aplikace a jejich implementaci. Nakonec popisuje testování, zhodnocuje dosažené výsledky a diskutuje nedostatky výsledného řešení a možnosti jeho vylepšení, respektive rozšíření.
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