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Position Tracking with GPS and PDA
Černohorský, Vilém ; Herout, Adam (referee) ; Szőke, Igor (advisor)
This work presents steps in creation of remote position tracking application. Document introduces history of geographical positioning and navigation, and describes development of navigation from primitive utilities to complex radio navigation systems. Global Positioning System is described in more detail including NMEA protocol used by GPS receivers. This work also presents several current navigation applications. Based on obtained information work presents analysis, object-oriented design and implementation of remote position tracking system.
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Road Recognition for Visual Navigation of Mobile Robot
Šeda, Jan ; Orság, Filip (referee) ; Marvan, Aleš (advisor)
In recent years, a significant amount of attention has been given to the development of robust road detection algorithms using color monocular vision. Artificial neural networks are often used in order to deal with this complex issue because of their ability to find complex relationships between inputs and outputs. However, the essential task is to choose suitable features extracted from input visual data. In this thesis, the proposed combination of extracted features aims at the problem of robust road detection. The adaptation ability of neural network is also utilized to overcome the difficulties with variable road texture and shadows. Several experiments have been conducted to verify the presented approach.
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Navigation in GIS Surveys
Pop, Pavel ; Kočí, Radek (referee) ; Hrubý, Martin (advisor)
The project aims to design and implementation of navigation in GIS surweys. The system must be able to operate globally and deal with several types of navigation tasks in relation to the means of transport by which the navigation is carried out. One of the tasks is also to improve the course of navigation errors resulting from the removal of inaccuracies in the focus position and technical limitations of GPS, such as low frequency of the input data for guidance. Problems of low frequency of the input data is dealt with through the prediction of movement, which enabled the smooth display output users. Because it is not possible to completely test the system in operation, it created a simulation tool that lets you track the behavior of navigation in all situations. The document contains an analysis of the problem in terms of geography, the definition of the problems of orientation in space and their mathematical solution and an outline of implementation.
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Automatic Navigation on Private Websites
Kliment, Radek ; Rychlý, Marek (referee) ; Křivka, Zbyněk (advisor)
This thesis deals with technologies related to web pages and describes the navigation across them including the authentication to access their private sections and the user context management. It introduces the design of the mechanism for the automated navigation including new scripting language and tools for the visual description. The work also contains the design of the application using the mechanism and the implementation of its parts. The last chapter sums up the knowledge acquired by testing on various websites.
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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
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Implementation of PBN - Performance Based Navigation Procedures to Regional Airport
Veselý, Petr ; Soldán,, Vladimír (referee) ; Vosecký, Slavomír (referee) ; Kevický, Dušan (advisor)
The thesis focuses on issues of the procedures in the terminal manoeuvring area (TMA) at regional airports. The goal is to provide a complex study of possible implementation of instrumental arrivals, departures and approaches on the basis of the requirements of the Performance Based Navigation (PBN) at a particular regional airport in the Czech Republic (Kunovice airport). The simulative evaluation of the operational impacts caused by the suggested changes in TMA Brno and CTR Kunovice is also a part of the thesis. The last section is focused on providing a generic methodology describing the process of design and evaluation of PBN procedures.
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Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností
Jež, Ondřej ; Žalud, Luděk (advisor)
The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.
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Wheelchair
Kutnar, Pavel ; Burian, František (referee) ; Šembera, Jaroslav (advisor)
Thesis describes the design, development and testing of new control unit of the wheelchair. Odometry, complete control of the wheelchair and a simple communication protocol provides to superior sytem an opportunity of autonomous control. The document contains a description of the wheelchair modifications, odometry theory including its application and a description of the unit itself. The basis of the electronic part is an ATmega16 microcontroller. Tests reveal problems of odometry and suggest possible improvements.
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Control of underwater exploring robot
Válek, Zdeněk ; Hadaš, Zdeněk (referee) ; Houška, Pavel (advisor)
This diploma thesis is dealing with design of explorative robot named Gloin, which is designed especially for the exploration and mapping of the underwater part of Hranická propast, which is the second deepest fresh-water abbys in the world. This thesis is concentrating on design of algorithms needed for control and navigation of robot in the abyss. The designed algorithms are verified by simulation.
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