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Omnidirectional mobile robot
Štěrba, Ondřej ; Baránek, Radek (referee) ; Zezulka, František (advisor)
This bachelor’s thesis describes controlling of omnidirectional chassis based on omnidirectional (‚swedish“) wheels especially controlling angular velocities for each wheel to achieve desired speed and desired direction. As next describes detecting obstacles by additional sensors.
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Altitude control of flying robot
Palacký, Tomáš ; Šembera, Jaroslav (referee) ; Baránek, Radek (advisor)
This bachelor’s thesis deals firstly with design and construction of a device for testing of altitude control algorithms of a flying robot. Secondly with creating and testing of an altitude control algorithm in order to apply findings while creating a copter control system. Provided is a selection and analysis of used hardware and software components – microcontroller AVR ATmega, ultrasonic sensor, motor controller and also communication interfaces IC, USART and SPI. Also design and realization of electrical wiring, circuit board and mechanical structure is being described here. The next section includes creation of software for microcontroller and PC application. The altitude control algorithm is developed using a simulation, furthermore tested and tuned for desired behavior.
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Attitude Estimation of Multicopters
Baránek, Radek ; Jalovecký, Rudolf (referee) ; Krejsa,, Jiří (referee) ; Šolc, František (advisor)
This dissertation deals with attitude estimation of multicopters. Mainly the use of multicopter dynamic model in order to gain accuracy is investigated. It shows that the usage of multicopter dynamic model brings advantage contrary to other known algorithms for attitude estimation such as GPS/INS or complementary filter. Besides others one goal is to study the possibilities to estimate the parameters of dynamic model on-line. Further the influence of wind speed to estimation accuracy is also investigated. The algorithms are based on a nonlinear Kalman filter. The use of dynamic model of multicopters reveals the possibility of estimating attitude with bounded error even without periodic measurement of absolute position. One of the results of the dissertation is a new algorithm which does not require information about the thrust of multicopter propellers.
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Multicopter Attitude Estimation Using Dynamic Model
Baránek, R.
The paper is focused on attitude estimation of multicopters. Specifically the use of dynamic model of multicopter in the attitude estimation algorithm is investigated. The examined algorithm is compared to the standard algorithm GPS-INS, which do not need any information of the vehicle dynamics. Both algorithms are tested in simulations. The use of dynamic model provides bounded errors of attitude estimates even without GPS measurements. The drawback is the need for a good dynamic model of the multicopter and its parameters.
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