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Automated Drone Boomeranging
Harasim, Jiří ; Barták, Roman (advisor) ; Obdržálek, David (referee)
The thesis proposes a 3D navigation and planning system for an autonomous remotely controlled quadcopter (drone). The solution uses the drone sensor data along with the data processed from the video camera image stream, without having any knowledge of its surroundings beforehand and without using any nav- igation signal (GPS). The video camera data are transformed into a sparse point- cloud representation, from it is created an occupancy map of the surrounding area with adaptive cell size. The planner can construct trajectory plans in the map, respecting the detected obstacles. The planned trajectory is executed by a simple drone controller. The proposed system includes a simulator which enables virtual execution of the whole process. The thesis composes originally independent and incompatible sub- systems into a single compactly working system. The functionality of the system is demonstrated on a few simple scenarios, one of which is the return of the drone to its starting location.
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Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
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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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