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Comparison of Methods for Travelling Salesman Problem
Šušová, Lucia ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
This work is about comparison of methods for solving the traveling salesman problem. There are many algorithms for finding solution of this NP complete problem but it is not easy to choose the right one. Main goal of this thesis is experimental methods comparison between each other. Reader is going to learn what result she can expect if she chooses certain algorithm for finding the path. First part is focused on theoretical basics where is described all needed information for understanding the problem. Second part describes single heuristics and methods for solving these problems. The methods are divided into groups by principle of working. Next part contains experimental comparison of methods. This comparison was done based on own implementation of single heuristics. The following part of this work contains information about this implementation and also describes comparison application. Next possible steps of this project are described in conclusion.
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Robot Control Using FITkit
Novotný, Tomáš ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This paper deals with the teoretical background, design and implementation of the remote controlled robot, which is shipped with various sensors. Work is based on the available devices. FITkit is used for controlling sensors, motors and communication with the PC at the robot side. The different interfaces are used by almost every sensor. These are the I2C bus, PWM or analog signals. The biggest part of the controlling is done by the FITkit using programming C language. The FPGA is used just for the communication over the COM port. Later expansion was in the mind during the design and implementation. The result of this work is remote controlled robot with the sonars, compass, accelerometer and optical encoders.
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Map Creation Application from OpenStreetMap Project Data
Latta, Martin ; Rozman, Jaroslav (referee) ; Novotný, Tomáš (advisor)
This bachelor's thesis deals with the development of application that allows you to create maps from OpenStreetMap project data and change their appearance. The work contains an introduction to cartography, information about OpenStreeMap project and rendering library Mapnik. The main focus of the text is a description of the design and implementation of the application itself, including the final testing and evaluation.
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Network Application Chess Learning
Dvořák, Petr ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
The work deals with creating of application for teaching chess. Teaching methods include not only play against the computer, but also a network play against the player or computer. It is also created the support to use chess diagrams. The program support existing playing games in standard PGN format. A chess engine is responsible for analysis of these games and it communicates via standard Win / XBoard. The Chess engine generates alternative moves in a given position and provides the player to think about. The application also supports standard FEN. In the opening chapters of this work are discussed used tools, the basics of chess and more detail existing types of chess notation. In other parts of the work I analyze an existing individual chess standards, theirs design and theirs implementation in my program. In the rest of the work I describe designed and implemented parts of the program, such as its graphic design and supporting side panels. In the last chapter I describe the server that connects all the current players.
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Mobile Robot Control via Smartphone
Kořenský, Matěj ; Rozman, Jaroslav (referee) ; Kubát, David (advisor)
This bachelor thesis is about design and construction robot on Ackerman´s undercart and about choice of suitable sensors and camera. There is also described development and following production of control unit in the thesis. For the robot controlling is designed and made an aplication for Smarthphone with the Android operating system.
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Control of a Robotic Arm Gripper
Luža, Radim ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
This document describes design of regulator of gripping force for robotic gripper Schunk PG70. In the first part of this document there is described electircal connection, interconnection with control systém and testing of robotic gripper. The second part of document desribes design of software regulator of gripping force and material recognition with robotic gripper. Document also describes experiments with implementet regulator and sumarizes real measured values of atributes of the regulator.
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Road Detection in the Camera Image
Šedo, Jan ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
Bachelor's thesis deals with road detection in camera image. It contains overview of used methods in this area and their most frequented usage, brief introduction to image processing and to ROS framework. Then it gives proposal and details of implementation of application, which analyzes the image and performs segmentation in order to separate the road and it's surroundings by global thresholding method with use of ROS and OpenCV libraries. Application is tested on the data gathered for purposes of Robotour 2013 contest and on series of own recorded data. Finally it contains evaluation of results and discussion about future work on this project.
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Robot Navigation with Differential GPS
Doležal, Jan ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This bachelor's thesis describes the realisation of method for improving the accuracy of GPS navigation, so-called differential GPS, and its implementation in the form of a package for Robot operating system (ROS). A programming library RTKLIB, which deals with methods of increasing the accuracy of GPS navigation, is used in the package. Created solution was subjected to measurement of precision and accuracy of calculated position. This proved that the differential GPS method provides more accurate position coordinates and makes more sense for use on robots than conventional GPS.
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Robot Controlled by PIC Microprocessor Unit
Heřman, Petr ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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Mobile Robot Localization Using Camera
Vaverka, Filip ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design and implementation of an approach to the mobile robot localization. The proposed method is based purely on images taken by a monocular camera. The described solution handles localization as an association problem and, therefore, falls in the category of topological localization methods. The method is based on a generative probabilistic model of the environment appearance. The proposed solution is capable to eliminate some of the difficulties which are common in traditional localization approaches.
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