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Planning expert system for mobile robot
Dvořáková, Ivona ; Sáblík, Václav (referee) ; Valenta, Jan (advisor)
The thesis connects on knowledge from semestral project. The first part of thesis represents primary parts, sorts, problems and principles for planning expert systems. The second part of thesis interprets possibilities and principles usage planning expert systems in mobile robotic. The thesis includes an example of mobile robotic, too. Characterization of robotic football is presented in the third part. The part of thesis interprets system´s scales and their specifications. In the last part detailed conception for robotic football is designed(group of MIROSOT).
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Robot navigation by means of graph-based algorithms
Čížek, Lubomír ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This thesis deals with robot path planning by means of graph-based algorithms. The theoretical part contains basic approaches to robot path planning, and pay closer look at various methods of graph-based algorithms. In the second part of this thesis a simulation environment for robot navigation was created in C#. And in this environment chosen methods of graph-based algorithms have been implemented. This thesis was written within the research project MSM 0021630529: Intelligent systems in automation.
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Differential chassis mobile robot trajectory planning
Chochel, Michael ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work speaks about a suggestion of trajectory of mobile robot with nonholonomic movement limits and differential chassis while passing through a “T“ shaped crossroad. In the theoretical part some methods generally used to solve this task of planning a trajectory of the robot will be explained. In the practical part this task will be solved by an algorithm for searching the optimal trajectory to pass through the crossroad.
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Hybrid mobile robots able to operate in the university campus
Chlud, Michal ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This thesis describes actually known hybrid mobile robots platforms including analysis of different types of wheels, tracks and other instruments of locomotion. Sets potencial advantages and disadvantages for every found platform. Thesis shows all possible hindrances for mobile robots in the university campus, including hindrance parameters. Multicriterial valuation’s basic metod takes out optimal variant of platform.
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Robot Path Planning (RRT)
Knispel, Lukáš ; Matoušek, Radomil (advisor)
This thesis deals with path plannig of omnidirectional mobile robot using the RRT algorithm (Rapidly-exploring Random Tree). Theoretical part also describes basic algorithms of path planning and presents closer view on RRT and its potential. Practical part deals with designing and creation of C++ linux application in Ubuntu 9.10 environment with Qt 4.6 application framework, which implements advanced RRT algorithm with user-programmable solver and batch mode in order to test efectivity of solver on given tasks.
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Control of mobile robot
Vožda, Ondřej ; Skula, David (referee) ; Šembera, Jaroslav (advisor)
This thesis describes questions of developing the system for remote and presence control of a mobile robot (wheelchair). It is concerned with choice of a proper protocol for communications via wireless network, transmission of images from webcam and data from joystick. Next objective of the thesis is recognizing surrounding obstacles using ultrasonic range finders. Thesis describes observation arisen from using this type of sensors. One of the most important points of the thesis is to discuss the safety of usage of the developed system. In conclusion, possibilities for future development are stated.
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Electronic Subsystem of a Small Mobile Robot
Podolan, Luděk ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The topic of this bachelor thesis is design and construction of a mobile robot with wheeled differential platform. The main goal was to design, implement and test an electronic sub-system for a small mobile robot. Each chapter firstly deals with theoretical aspects of relevant topics and after that describe the process of construction. The thesis shows various ways of construction of the robot with the process of selection of the optimal one. The main controlling part of the robot is the AVR microcontroller placed on the EvB4.3 development board. A simple menu was created on an LCD display for communication between the user and the robot. Battery management is controlled by an analogue to digital converter. The last two chapters focus on encoders and communication between the robot and a proximity sensor. Pictures of the robot are enclosed at the end of the thesis.
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Mobile robot path planning
Klobušníková, Zuzana ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This master thesis deals with the planning of the robot's path using selected graph algorithms of artificial intelligence. The theoretical part describes the basic methods of planning a robot's path. It is related to the graph algorithm more closely. The practical part deals with implementation of selected graph algorithms, creation of simulation environment in Python, description and evaluation of experiments.
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Usability of compass in indoor mobile robot navigation
Pilch, Petr ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
This work is focused on usability of compass HMC6343 for controlling the mobile robot in an indoor environment. The first part shows the history of compass and describes the principle of operation of some types of compasses including anisotropic magnetoresistive sensor. HMC6343 compass used for the measurements in real environment is based on this principle. The measurement is evaluated and the usability of data gathered this way is discussed the second part of the thesis.
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