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Energy management for robotic vehicle Car4
Dobossy, Barnabás ; Bastl, Michal (referee) ; Najman, Jan (advisor)
This thesis describes the design process and implementation of a measurement unit for state of charge estimation of the batteries of experimental vehicle Car4. The first part is devoted to give insight into why battery monitoring is so important and difficult task at the same time, which is often influenced by ambient effects. The second part describes the design and configuration process and the creation of control algorithm for the central control unit of Car4
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Algorithm for automatic parking for four wheel steering vehicle
Vrbková, Michaela ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
The bachelor thesis is focused on creating a designated parking assistant for the parallel parking of a vehicle with front and rear steering axels (hereinafter 4WS). There is a literature search in the field of 4WS kinematics and sensors available for parking in the bachelor thesis. Part of the bachelor thesis is newly created software to record the trajectories of a 4WS car, including a description of its functionality. The result of the bachelor thesis is an algorithm for parking assistance, which was theoretically simulated in the computer program Matlab and then tested on a real vehicle, "Car4" in the Mechatronic Laboratory FSI, Brno University of Technology.
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Simulation of vehicle dynamics using V-REP software
Borek, Dušan ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This theasis deals with modeling dynamics and visualization of experimental vehicle CAR4 in software V-REP. The first part shows introduction with V-REP and its possibilities for usage in simulations. The second part presents modelling of CAR4 vehicle and its control by using software V-REP and Matlab. In last part are models of vehicle tested in simulation
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Application of SLAM algorithms for 4WS vehicle
Najman, Jan ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This paper deals with the application of SLAM algorithms on experimental four wheel vehicle Car4. The first part shows the basic functioning of SLAM including a description of the extended Kalman filter, which is one of its main components. Then there is a brief list of software tools available to solve this problem in the environment of MATLAB and an overview of sensors used in this work. The second part presents methodology and results of the testing of individual sensors and their combinations to calculate odometry and scan the surrounding space. It also shows the process of applying SLAM algorithms on Car4 vehicle using the selected sensors and the results of testing of the entire system in practice.
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Design of dynamic models for traction control of experimental vehicle
Jasanský, Michal ; Porteš, Petr (referee) ; Grepl, Robert (advisor)
The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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Re-design of steering servo-actuators for Car4 experimental robot
Vespalec, Tomáš ; Hadaš, Zdeněk (referee) ; Vejlupek, Josef (advisor)
This thesis deals with the development and design of the wheels mechanism in an experimental vehicle Car4. During this work, we introduce the vehicle axle load calculation, with components and systems, allowing linear and rotational motion, and different design proposals for the application of these systems in the vehicle. The result of this work will be a new mechanism for the wheels of the experimental vehicle Car4.
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Car4 vehicle remote control enhancement
Nejedlík, Tomáš ; Lamberský, Vojtěch (referee) ; Vejlupek, Josef (advisor)
This work deals with adding the LCD display to the remote control and its programming. At the introduction, we describe available data that we could get from the on-board sensors. Then we describe in detail how are the data transmitted between vehicle and its remote control, how the data are processed and then displayed. Also the modifications performed on the on-board electronic wiring and battery charging are discussed and described.
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Design of experimental mobile robot
Blatoň, Jan ; Řezníček, Svatopluk (referee) ; Čoupek, Pavel (advisor)
This bachelor´s thesis solves a design, structural design and subsequent vehicle body manufacture of experimental mobile robot Car4. The aim is proposition of uncommon and timeless vehicle body provided that all technical and technological requirements are complied. Emphasise is placed on unconventional appearance, functionality, resistence and manufacturability.
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