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Radar sensors in mechatronics
Pulec, Matěj ; Formánek, Martin (referee) ; Brablc, Martin (advisor)
This work is studying the possibilities of using radar sensors in mechatronics. The theoretical part describes the basic principles of the mm-Wave FMCW radar sensor, along with several examples of their possible applications. The practical part describes three experiments testing the capabilities of this sensor. In these experiments, the the radar was found to be able to accurately and reliably track the position and speed of a moving object. However, problems arose when trying to determine the position of static objects and also when detecting the shape or orientation of both dynamic and static objects. For these purposes, the the tested radar appears to be an unsuitable type of sensor.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Radar sensors in mechatronics
Pulec, Matěj ; Formánek, Martin (referee) ; Brablc, Martin (advisor)
This work is studying the possibilities of using radar sensors in mechatronics. The theoretical part describes the basic principles of the mm-Wave FMCW radar sensor, along with several examples of their possible applications. The practical part describes three experiments testing the capabilities of this sensor. In these experiments, the the radar was found to be able to accurately and reliably track the position and speed of a moving object. However, problems arose when trying to determine the position of static objects and also when detecting the shape or orientation of both dynamic and static objects. For these purposes, the the tested radar appears to be an unsuitable type of sensor.
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Anti-crash System for Quadcopter with set of sonars
Hrazdil, Radim ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
This bachelor’s thesis is focused on installing ultrasonic sonars on a quadcopter, connecting them to the Arduino Micro microcontroller and implementing a program for controlling connected sonars. A demonstrational application using ROS framework was designed and implemented. Based on data received from sonars this application detects nearby obstacles and is able to maintain safe distance as well as slow down when getting too close to an obstacle. The design of the collision avoidance system is focused on high frequency of measurements and maximal space coverage.
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