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Comparation of the 2D LIDAR SLAM methods in the simulation and in the real world
Cihlář, Miloš ; Jelínek, Aleš (referee) ; Ligocki, Adam (advisor)
This thesis deals with the design of a mobile robotic platform with the ability to build a map with an already existing 2D SLAM algorithm and a comparison of this algorithm in simulation and the real world. It uses three known algorithms i.e. Hector slam, Gmapping, and Karto slam. The part of this work deals with the creation of two wheels differential drive robot models in the Gazebo simulator and with an implementation proposal that is realized with the ROS framework. In thesis is implemented basic localization technique for mobile robots. Planning algorithms and a path controller are mentioned. In thesis is proposed own access to an autonomous exploration of building to build a map of the building. For evaluation of the SLAM algorithm is suggested slam quality criterion.
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The Trilobot Model
Štěpán, Miroslav ; Janoušek, Vladimír (referee) ; Hrubý, Martin (advisor)
This MSc Thesis describes creation of motion model of mobile robot called Trilobot. This model is implemented into simple simulation tool. Some laboratory experiments with the robot are described in this paper. There is also some information about SmallDEVS tool and Squeak Smalltalk environment in which the model was implemented. Motivation of this work is effort to simplify the design and testing of navigation algorithms for Trilobot, which is available for students of FIT BUT in the robotics lab of department of intelligent systems. This simple simulation tool could partially reduce dependence on physical availability of this robot.
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ROS framework utilization for autonomous mobile robot control system
Vávra, Patrik ; Krejsa, Jiří (referee) ; Appel, Martin (advisor)
Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.
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The Rehabilitation of the historical center and adjacent surroundings of Kyjov with a focus on the public space
Lípová, Markéta ; Řehák, Filip (referee) ; Pavlovský, Tomáš (advisor)
The subject of the diploma thesis is “Rehabilitation of the historical center and the surrounding neighborhoods in Kyjov with main focus on public space”. Urbanistic solution covers an area in close distance from the Masaryk Square, where the effort is to offer housing in the newly designed residential district. Diploma thesis also contains a design for completion and increase of capacity of the social services complex which is adjacent to the park by Saint Josef Chapel. This park is a part of the urbanistic design as well. The studied area is bordered by the streets of Újezd, Dobrovského, Dvořákova, Klvaňova, Brandlova and Palackého třída. Although Kyjov is situated mostly on plains the studied area is in a hilly and disunited part of the city. Buildings in this area are rather low-rise and mainly used for housing purposes. The design is focused on offering varied housing, which relates to the existing buildings and develops unused public space. Scope of this diploma thesis also contains a vision for the year 2070. The vision focuses on an area currently with high-rise blocks of flats. This area is adjacent to the newly designed residential district.
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Doors and Door Handle Localization for PR2
Botka, Roland ; Španěl, Michal (referee) ; Kapinus, Michal (advisor)
The aim of this work is to design and create a module for locating doors and handles for the robotic platform PR2. Finding the doors should be done separately, which means that the robot finds a door in the room without assistance. Handle position is stored in a file which the data are read from based on the AR code affixed to the door. The result of this module should be a program for the Robotic operating system that will locate the door in the room, and give information about them. These informations will be the basis for the work of another module, which open the door. The final test took place in a faculty robotic laboratory
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Optical Localization of Very Distant Targets in Multicamera Systems
Bednařík, Jan ; Beran, Vítězslav (referee) ; Herout, Adam (advisor)
This work presents a system for semi-autonomous optical localization of distant moving targets using multiple positionable cameras. The cameras were calibrated and stationed using custom designed calibration targets and methodology with the objective to alleviate the main sources of errors which were pinpointed in thorough precision analysis. The detection of the target is performed manually, while the visual tracking is automatic and it utilizes two state-of-the-art approaches. The estimation of the target location in 3-space is based on multi-view triangulation working with noisy measurements. A basic setup consisting of two camera units was tested against static targets and a moving terrestrial target, and the precision of the location estimation was compared to the theoretical model. The modularity and portability of the system allows fast deployment in a wide range of scenarios including perimeter monitoring or early threat detection in defense systems, as well as air traffic control in public space.
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Smart Interaction of Robot with Human
Nováčik, Tomáš ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This bachelor thesis investigates the usage of neural networks and their applications on the problem of smart home. Used localization system is based on WLAN technology. For activities rocognition is used LSTM recurrent neural network. For simulation purposes is used robot operating system.
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Demonstration Application for Mobile Robot
Prokopová, Dagmar ; Beran, Vítězslav (referee) ; Materna, Zdeněk (advisor)
This work deals primarily with the design and principles used for the creation of Ball Picker demonstration application for mobile robot TurtleBUT2. The robot controlled by this application is capable of picking up tennis balls spread around and placing them into the hand of a nearby person. Among others, the work describes the robot operating system the application is based on and simulator Gazebo. Also, it provides the detailed analysis of the algorithm for tennis ball detection based on the image color filtration and the usage of Hough transform as well as principles of detection with Haar feature-based cascade classifier used for human hand detection.
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Modelling and simulation of robotic applications
Šťastný, Martin ; Heriban, Pavel (referee) ; Šťastný, Jiří (advisor)
The aim of this master thesis is to make research of Open Source software, which are used for simulation autonomous robots. At the begining is performed research of selected robotic simulators. In the first part of this work is to get familiar with robotic simulator Gazebo and robotic framework ROS. The second part of this work deals with simulating and subsequent implementation of choosen robotic tasks through the simulator Gazebo and the ROS framework.
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