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Mobile platform for testing autonomous vehicle sensors
Valla, Tomáš ; Ramík, Pavel (referee) ; Štětina, Josef (advisor)
The aim of this diploma thesis is to create a design of a mobile platform. The platform contains all the necessary electronics from conventional RC models and thus the RC control itself is guaranteed. It is also equipped with a light but solid platform, which is suitable for attaching the necessary sensors, lidars, cameras and other necessary accessories. Part of the work is also a brief overview of the division of RC models and evaluation of the components used for possible construction of the model. The final chapter is devoted to FEM analysis, where the load-bearing capacity of the platform under different load models is checked by means of structural analysis. Using modal analysis, the platform's own critical frequencies were determined and compared to the frequencies that are transmitted when driving on the road.
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GNSS Navigated Mobile Robot
Chmelař, Jakub ; Jílek, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The diploma thesis is focused on the topic of global satellite navigation of mobile robots. The paper describes the principle of currently available global satellite navigation systems. The main element of the thesis is the proposal of mobile robot navigation algorithm. An integral part is also the design of a mobile robot to verify the functionality of the navigation algorithm. The robot software program is described. At the end, everything is verified by real experiments.
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Control of the belt robot
Vávra, Jakub ; Kopečný, Lukáš (referee) ; Macho, Tomáš (advisor)
This semester thesis deals with the management of autonomous robot crawler. The robot will be able to avoid obstacles and check if there are on the mat. Will assess whether or not the barrier is to the left or right of it, and hence it avoids.
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Topics of the first and last mile in urban transport
Večerka, Marek ; Ramík, Pavel (referee) ; Štětina, Josef (advisor)
This bachelor thesis deals with the issue of the first and last mile in urban transport. It generally defines the issues of the first and last mile and provides an overview of available solutions. At the same time, it briefly looks at the future in the form of autonomous management. The individual solutions are described and subsequently related to the continent of Europe. The next step is to map and analyse the available options in the Statutory City of Brno. The result of this work is an evaluation of current available solutions and a proposal for further solving the problem of the first and last mile.
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Autonomous Slot-Car Driving with Adaptation to Unknown Track Shape
Nesvadba, Marek ; Bidlo, Michal (referee) ; Strnadel, Josef (advisor)
The goal of this bachelor thesis is design and implementation of slot car track mapping algorithm and algorithm that uses information about shape of the track to drive through it in the fastest time. Algorithm for mapping divides the track into sections (straights, corners, braking zones and corner exit zones) and algorithm for driving then uses information about driven distance and about shape of the track to set the speed of the car. The car is able to drive around the track with only the information about the track length without crashing, which is confirmed by experiments.
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Driver monitoring
Pieger, Matúš ; Bilík, Šimon (referee) ; Richter, Miloslav (advisor)
This master’s thesis deals with the design of systems for data collection which describe the driver’s behaviour in a car. This data is used to detect risky behaviour that the driver may commit due to inattention caused by the use of either lower or higher levels of driving automation. The thesis first describes the existing safety systems, especially in relation to the driver. Then it deals with the design of the necessary measuring scenes and the implementation of new systems based on the processing of input images which are obtained via the Intel RealSense D415 stereo camera. Every system is tested in a real vehicle environment. In the end the thesis contains an evaluation regarding the detection reliability of the created algorithms, it considers their shortcomings and possible improvements.
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Autonomous Control System for Mobile Platform
Kříž, Vlastimil ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work undertake the design of autonomous control system for mobile platform – slot car – for the Freescale Race Challenge 2009. The aim is to draw and implement control system, which will be able to drive the car trough the previously unknow path in the shortest time. In work is described factors that affect runing the car and draw optimal driving style. Then sensors for the car, type of motor control and control unit are chosen. The algorithms for maping the profile and for lap recognition are developed. Next the realization of the systém are descripted.
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Design and implementation of control program for mobile robot platform Turtlebot3 Burger
Filip, Jakub ; Lacko, Branislav (referee) ; Parák, Roman (advisor)
The aim of the bachelor thesis is the design and implementation of a control program for the mobile robotic platform TurtleBot3 Burger. The theoretical part of the bachelor's thesis defines the issue of mobile robotics, with a closer look at the various possibilities of locomotion, including examples from industrial practice. The TurtleBot3 mobile robot series belongs to the robotic platforms distributed by ROBOTIS, where their main feature is compatibility with the Robotic Operating System (ROS). The core of this system is licensed under the BSD, which guarantees open source code. The integration of ROS with the TurtleBot3 Burger model provides freely accessible robust libraries, which form the basis for understanding the control of a differentially controlled robot through ROS. In the practical part, the assembly and configuration of the robotic kit TurtleBot3 Burger is performed, including the introduction of key functionalities of this mobile platform, and the design of your own solution. The conclusion contains the justification of the mentioned proposal and the output after its implementation on a real robot.
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Wheelchair
Kutnar, Pavel ; Burian, František (referee) ; Šembera, Jaroslav (advisor)
Thesis describes the design, development and testing of new control unit of the wheelchair. Odometry, complete control of the wheelchair and a simple communication protocol provides to superior sytem an opportunity of autonomous control. The document contains a description of the wheelchair modifications, odometry theory including its application and a description of the unit itself. The basis of the electronic part is an ATmega16 microcontroller. Tests reveal problems of odometry and suggest possible improvements.
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Neural Networks for Autonomous Car Driving
Dopita, Marek ; Hradiš, Michal (referee) ; Smrž, Pavel (advisor)
In this work, the principles of neural networks are introduced with a focus on autonomous vehicles. Based on this information, a proposal for the implementation of a system is created, which allows to drive a car without a driver. It builds on tools that allow easy creation and testing of autonomous vehicles. It is CARLA simulator and ranking.The proposal divides vehicle routes into three different situations. Each situation requires the use of different sensors, so a specific autonomous agent is created that is able to recognize the situation and switch between different neural network designs. Each such network is specific in its inputs and is taught in a specific situation.Programs are created that are able to easily collect a data set using the CARLA Leaderboard. Then, a way is introduced to how the collected data can be divided into categories so that each category can be used to learn its neural network.
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