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Quadrotor 3D Intuitive Flying
Husák, Robert ; Plch, Tomáš (advisor) ; Obdržálek, David (referee)
The Rotor-based Unmanned Aerial Vehicle (R-UAV) is a robotic aerial plat- form capable of Vertical Take-Off and Landing. It is commonly controlled by a "two stick" interface common to radio controlled models of ships and airplanes. However, this method of control proves to be difficult to learn and master in the domain of R-UAV. Therefore, we examined other control devices: smartphone, gamepad, joystick, 3DConnection SpaceNavigator and Novint Falcon. They were used by 19 volunteers to perform two simple navigation scenarios with AR.Drone, a small R-UAV from Parrot. We separated the pilots into two groups, based on their experience with the R-UAV remote control. We measured the time needed for each device to fulfill every task, including the number of unwanted collisions with obstacles, as well as the pilot's satisfaction with it. According to the results of the experiment, joystick and smartphone proved to be less intuitive and effec- tive among all pilots, especially the inexperienced. Gamepad seemed to be most usable for experienced pilots, although the inexperienced had problems distribut- ing control between two hands, as we expected. 3DConnexion, SpaceNavigator and Novint Falcon were rated the best devices for inexperienced users.
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Simulation of Multi-UAV Cooperative Surveillance Using Pogamut and USARSim
Dufek, Jan ; Plch, Tomáš (advisor) ; Čermák, Miroslav (referee)
The main objective of this thesis is to introduce a simulation platform, which has been developed utilizing Pogamut and USARSim, for cooperative aerial surveillance using multiple unmanned aerial vehicles (UAVs). The graphical user interface (GUI) of the simulator contains the automatically created bird's eye view of a 3D virtual environment. This is used to enter locations and parameters of objects (UAVs, charging stations and areas) and also to visualize the process of a simulation. The thesis proposes a system for the analysis of the quality of surveillance, whose results are presented in the GUI in the form of a time graph and a heat map. Part of the proposed platform is a UAV objective-based control system including charging stations scheduling. A total of seven algorithms for cooperative surveillance has been implemented, tested in three different scenarios and analyzed for coverage quality. Powered by TCPDF (www.tcpdf.org)
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Pravděpodobnostní modely pro lokalizaci bezpilotního letounu testované na reálných datech
Figura, Juraj ; Vomlelová, Marta (advisor) ; Obdržálek, David (referee)
The thesis addresses the dynamic state estimation problem for the field of robotics, particularly for unmanned aerial vehicles (UAVs). Based on data collected from an UAV, we design several probabilistic models for estimation of its state (mainly speed and rotation angles), including the configurations where one of the sensors is not available. We use Kalman filter and Particle filter and focus on learning the model parameters using EM algorithm. The EM algorithm is then adjusted with respect to non-Gaussian density of some sensor errors and modified using model complexity penalization terms for better generalization. We implement these methods in MATLAB environment and evaluate on separate datasets. We also analyze data from a ground robot and use our implementation of Particle filter for estimation of its position. Powered by TCPDF (www.tcpdf.org)
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Controlled Landing of an Autonomous Drone
Hraško, Andrej ; Barták, Roman (advisor) ; Obdržálek, David (referee)
The goal of this work is to develop and implement a desing for the most appropriate method allowing autonomous landing of the quadrocopter on a heliport with a visible pattern. This work includes an analysis dedicated to finding the best pattern for the designated landing area and the most reliable way to identify this pattern in an image taken from the camera of quadrocopter. The work explains the different ways of controlling devices as dynamic systems and implements algorithms for navigation of the quadrocopter to the target. The achieved results are verified by documented experiments. Powered by TCPDF (www.tcpdf.org)
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Laws Concerning Drone Use in the Real Estate Practice
Klementová, Tereza ; Jandásková, Tereza (referee) ; Klika, Pavel (advisor)
This thesis focuses explores the laws for drone use in the real estate practice. In each chapter, the legislation for the commercial use of drones is described for the following states - the Czech Republic, Slovakia, France, Belgium, the Great Britain and the United States of America. In the final chapter there is a comparison of different law aspects from all studied countries.
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Crop yield estimation in the field level using vegetation indicies
Jurečka, František ; Hlavinka, Petr ; Lukas, Vojtěch ; Trnka, Miroslav ; Žalud, Zdeněk
Remote sensing can be very useful tool for agriculture management. In this study, remote sensing methods were applied for yield estimation in the field level. There were compared remote sensing data together with yield data obtained from the field. The study area is located in Polkovice in Olomoucký region and a crop planted there in the year 2016 was spring barley as one of most important crops grown in the region. The study area in Polkovice is located at lower elevations with intensive crop production and is climatologically warmer and drier than other areas of the Czech Republic. Year 2016 was the first year when the harvest device has been used for yield analysis in this study area. The output of this method is the yield map displaying the amount of crop harvested in the particular place in the field. The yield data from the field were then compared with remote sensing data in the form of vegetation indices. Two of them were used for comparison – Normalized Difference Vegetation Index (NDVI) and a two-band Enhanced Vegetation Index (EVI2). These indices have been often used for yield estimation in different studies but mostly in larger scales. This study investigates use of NDVI and EVI2 at more detailed scale while using various remote sensing methods. Comparisons show that remote sensing data can provide accurate estimation and can be used for yield forecasting or supplement traditional ways of yield estimation. Results of the study show that yield-index correlations are stronger for satellite data than for the drone data. NDVI showed slightly stronger correlations than EVI2. Strongest correlations between vegetation indices and yields were found for NDVI from Sentinel 2.
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Safe Flight-Control of Drone Based on Sonar Measurements
Benkő, Krisztián ; Maršík, Lukáš (referee) ; Beran, Vítězslav (advisor)
Bachaleor's thesis describes design, implementation and testing of anti-crash system for safe flight-control of quadcopter. The system is implemented using ROS framework, where input data from sonars and keyboard are processed, calculation is then performed, output of which is controlling motors. Quadcopter is able to move safely in indoor environment. The emphasis was on speed of calculation and system testing. The quadcopter can be controlled by keyboard.
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Quadcopter design and utilization with the use of Arduino Due
Majer, Dominik ; Olejár, Adam (referee) ; Krajsa, Ondřej (advisor)
This bachelor thesis is about design of usable prototype of quadrocopter using standard RC components, with Arduino Due control unit and gyroscope with MPU6050. Main goal is the fully functional prototype with feature for reduction of barriers collision possibility, using ultrasonic sensors. The first part of thesis is the description of each component and their cooperation. The second part describes final solution, flowchart, source code with problems arisen. Source code is written in programming language Arduino, which is based on Wiring language. Further the brief analysis of autonomous flight of quadrocopter is done, particulary with GPS module and possible brief design of this idea. Finally the analysis of basic options of telemetry transmission, such as GSM module, wi-fi, bluetooth, are analysed.
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Design of Drone
Lupták, Pavol ; Bukvald, Jiří (referee) ; Křenek, Ladislav (advisor)
The subject of this bachelor thesis is the design of a drone, specifically a semiprofessional quadcopter, which is intended for capturing videos and taking photos. The work includes an analysis of the current market situation and deals with new technologies in the given issue. The goal of the design is to create a concept that respects the technical, ergonomic and aesthetic requirements.
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