National Repository of Grey Literature 8 records found  Search took 0.00 seconds. 
Virtual Environment for Simulation in Mobile Robotics
Chytrý, Josef ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
The purpose of this bachelor's thesis is to get acquainted with the ROS2 and Gazebo tools used on the Ubuntu operating system. Additionally, the thesis provides a detailed description of the process for creating a reference model of a cube and an environment model for the Gazebo simulation platform. It also describes the process of creating the UAMT workplace. Furthermore, the thesis discusses the possibilities for simulation optimization. Finally, it specifies the procedure for integrating the Gazebo software with the ROS framework.
Fiducial Marker-Based Localization System
Hála, David ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
This work deals with localization of the robot in space using optical markers. In the first part of the thesis, the reader is introduced to the problems and pitfalls of this project and all the important connections, both mathematical and physical, are explained. The second part then focuses on the description of the procedure that was chosen to design the program and the ideas that led to its completion.
Position measurement of moving objects using a robotic total station
Horeličan, Tomáš ; Žalud, Luděk (referee) ; Jílek, Tomáš (advisor)
Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov.
Flight Trajectory Planning for Unmanned Aerial Vehicles
Horeličan, Tomáš ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
This thesis deals with the problem of planning a complete flight trajectory (ie. horizontal and vertical components) for unmanned aerial vehicles (UAV) with a main focus on maintaining a constant height and distance from the terrain. It includes the design of the trajectory planner itself, which is created in the Matlab environment. The design is mainly focused on small rotary aerial vehicles and drones. Main concepts of geolocation are discussed in the first chapters, which includes means of realization, basic terminology and theory that is needed in order to sufficiently track an object and its height on Earth. Principles of aerial survey, its use cases and means used in this thesis are also described. Following chapters present a complete hierarchical overview of the functionality of the designed planner and provide demonstrations with simulations. The practical part discusses results obtained from real flights of the vehicle.
LiDAR Data Filtering for Mobile Robot Navigation in the Outdoor Environment
Janech, Tomáš ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
To use robots outdoors it is required for the robot to be aware of the terrain traversability, be it complexity or the surface material itself. This thesis goes in depth about detection and filtration methods for surfaces, based on semantic image segmentation. Thesis also discusses some methods of 3D point projection, PointCloud filtration algorithms and their effectiveness.
Position Measurement Of Moving Objects Using A Robotic Total Station
Horeličan, Tomáš
This paper attempts to evaluate an emerging use case for Robotic Total Stations (RTSs)as a tracking and guidance system for small Unmanned Aerial Vehicles (UAVs), especially appliedto scenarios where conventional means of navigation (such as GNSS) are insufficient or completelyunavailable. The focus is on indoors environments, where a constantly tracking total station couldpotentially be used to provide the UAV with a reference coordinate frame together with its immediateposition within these coordinates. Preliminary experiments have been performed to evaluate the capabilitiesof two available RTSs, the Trimble S7 and S9 HP series, both controlled by a TSC7 controller.A Raspberry Pi mini-computer was used to timestamp specific events during the motion of a targettracked by the RTS. The Pi was synchronized with the RTS through Precision Time Protocol (PTP).This enabled direct timestamp comparison for time delay evaluation.
Position measurement of moving objects using a robotic total station
Horeličan, Tomáš ; Žalud, Luděk (referee) ; Jílek, Tomáš (advisor)
Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov.
Flight Trajectory Planning for Unmanned Aerial Vehicles
Horeličan, Tomáš ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
This thesis deals with the problem of planning a complete flight trajectory (ie. horizontal and vertical components) for unmanned aerial vehicles (UAV) with a main focus on maintaining a constant height and distance from the terrain. It includes the design of the trajectory planner itself, which is created in the Matlab environment. The design is mainly focused on small rotary aerial vehicles and drones. Main concepts of geolocation are discussed in the first chapters, which includes means of realization, basic terminology and theory that is needed in order to sufficiently track an object and its height on Earth. Principles of aerial survey, its use cases and means used in this thesis are also described. Following chapters present a complete hierarchical overview of the functionality of the designed planner and provide demonstrations with simulations. The practical part discusses results obtained from real flights of the vehicle.

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