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Control of EUROBOT Mobile Robot
Plucnar, Libor ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The thesis is focused on the theoretical development of a control algorithm for mobile robot based on Eurobot and its subsequent practical implementation according to a specific assignment. There are two main methods designed to control the robot according to the input signal, whereby the robot orientats. The first control method is using the camera. This section describes general procedure how to create the image classifier, under which it is possible to search objects. The second part describes the trajectory planning of the robot depends on its position to achieve a specific point on a predetermined map. During the proceedings are taken into account static and dynamic barriers that can occur in an environment in which the robot moves in. In the study was also designed graphical user interface.
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Mobile Robot Path Planning Simulation and Calculation.
Koch, Zdeněk ; Šorm, Milan (referee) ; Matoušek, Radomil (advisor)
This thesis deals about design and realization software application "Mobile robot studio" for planning path mobile robot in pseudo 3D world. It contains several tools, witch most important are: simulation control, path planning, world editor and commands editor for CAN. Application was made by technology .NET 2.0 and for 3D design was used Microsoft DirectX 9 API. This thesis has been supported by the Czech Ministry of Education in the frame of MSM 0021630529 Research Intention Inteligent Systems in Automation.
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3D Scanning with Proximity Planar Scanner
Chromý, Adam ; Burian, František (referee) ; Žalud, Luděk (advisor)
Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
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Path planning for semiautonomous convoy slave units
Hurban, Milan ; Růžička, Michal (referee) ; Krejsa, Jiří (advisor)
This bachelor thesis deals with the design of a trajectory planning method for semiautonomous convoy slave units. The main objective is to ensure that the unit calculates and follows a trajectory that closely matches the leading unit based mainly on image processing data from the camera. The thesis includes a MATLAB simulation of the whole convoy with manual control of the leading vehicle and an implemented path planning algorithm. The resulting code is ready to be integrated into a robust application where it will provide high-level control of each unit of the semiautonomous convoy.
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