|
|
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.
|
|
|
Mobile robot control system
Bugár, Loránt ; Jílek, Tomáš (referee) ; Hynčica, Ondřej (advisor)
Bachelors project is fixated for creating a mobile robot with a real time operating system. The robot control system is based on a microcontroller Arduino with ARM Cortex-m3 processor. The practical part is dealing with resolving the client-server communication with the UDP protocol, also with the identification of the engine from measured data’s by the Simulink and subsequently designing the PI regulator from the identificated data’s. In he last part of the work the focus is giving to solving the communication with I2C bus and using sensors like : accelerometer, ultrasonic sensor, infra sensor, light sensor, hall sensor and usage of a robotic arm. An application is created for controlling the robot and for visualisation of sensor readings..
|
|
|
ARM Remote debugging over industrial bus.
Skalický, Jakub ; Jílek, Tomáš (referee) ; Burian, František (advisor)
This semestral thesis is concerned on facilities of using DebugMonitor exception for debugging software which run on ARM Cortex-M4. The comunnication between debugged software and debugging master is implemented via CAN bus. The result is support for debugging without special debugging equipment. For support of this type of debug this thesis implemented code library called SDebug. It's managing parts of Cortex-M4 core, which are userd for debug.
|
|
|
Processing of localization data and its accuracy
Návara, Marek ; Chromý, Adam (referee) ; Jílek, Tomáš (advisor)
This work is focused on correction of localization data, relative to them location of the sensor on robot. Also solves the conversion between coordinate systems WGS-84, ETRS-89 and local coordinate system. For localization data are designed error characteristics and thier transformation.These points have been implemented in C# as individual classes for position sensors and sensors orientation. Classes were firstly developer for single-axis sensors and they are base for multi-axis sensors. The implementation has been verified in the experiment with the robot envMap. Experiment results show that the correction is implemented properly and can be further used. Error characteristics listed in the work characterize the measurement uncertainty of location data and can be used in further processing.
|
|
|
Electronic Subsystem of a Small Mobile Robot
Podolan, Luděk ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The topic of this bachelor thesis is design and construction of a mobile robot with wheeled differential platform. The main goal was to design, implement and test an electronic sub-system for a small mobile robot. Each chapter firstly deals with theoretical aspects of relevant topics and after that describe the process of construction. The thesis shows various ways of construction of the robot with the process of selection of the optimal one. The main controlling part of the robot is the AVR microcontroller placed on the EvB4.3 development board. A simple menu was created on an LCD display for communication between the user and the robot. Battery management is controlled by an analogue to digital converter. The last two chapters focus on encoders and communication between the robot and a proximity sensor. Pictures of the robot are enclosed at the end of the thesis.
|
|
|
Autonomous mobile robot
Pijáček, Ondřej ; Kopečný, Lukáš (referee) ; Jílek, Tomáš (advisor)
This thesis describes the design and implementation of chassis for autonomous wheeled mobile robot along with a proposal for a suitable control system. To move the robot was necessary to create individual modules for measuring environmental data, its subsequent processing and power management. For the entire robot system capable of rapid interaction, certain tasks are separated and controlled by its own microcontroller. For communication between the modules were chosen and designed SPI bus communication protocol. Thus assembled chassis then communicates over a serial line with higher system from which acquires data indicative of a subsequent procedure. The result is a controlling system communicating between its parts. Part of the design is also defined communications protocol that transmits data on the one hand and also used for fault diagnosis when sending information. Furthermore, there are patterns and specific methods for controlling the individual modules. In conclusion, the thesis described the proposed testing the robot in real conditions, along with the measurement results obtained in the task of autonomous driving.
|
|
|
Position measurement of moving objects using a robotic total station
Horeličan, Tomáš ; Žalud, Luděk (referee) ; Jílek, Tomáš (advisor)
Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov.
|
|
|
Wireless communication link analyzer
Dostálek, Jakub ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The aim of this bachelor thesis is to design and implement a wireless communication analyzer in mobile robotics, using IPv4 protocol and Ethernet interface and to create correctly selected and expressed characteristics from the measured data, according to which the wireless communication channel can be further optimized for the best data transmission. To meet these requirements, a brief search of existing solutions was performed, their applicability was discussed and important parameters of the wireless transmission channel were defined, which will form the given characteristics. Furthermore, the actual design and implementation of a wireless communication link analyzer for previously specified required parameters, verification of its functionality on the transmission link with known parameters and automation of measurement and data evaluation was performed.
|
|
|
Localization with Optical Markers in Mobile Robotics
Vítek, Filip ; Jílek, Tomáš (referee) ; Gábrlík, Petr (advisor)
The problems of mobile robotics includes, for example, method of navigation or positioning of mobile robot. This thesis deals with one of the many posibilities, which is the use of optical markers. The first part of this thesis is recherche about implementation of optical markers and the result is slection of the ArUco library. Under the open source license is available program library for the detection of these markers, which was used for measurement. The second part of thesis is concerning with making and adjusting program equipment and preparation or construction others necessary utilities. Then the mesurement was made, which was mainly focused on accuracy and success of detection. The results may be viewed in graphs and summarized in coclusion.
|
|
|
Measurement of GNSS receiver accuracy
Čepl, Miroslav ; Gábrlík, Petr (referee) ; Jílek, Tomáš (advisor)
In this thesis a new method of determining an accuracy of a GNSS receiver is presented. First, a research of basic GNSS systems and a description of receiver accuracy is performed. Subsequently, the method of measuring the accuracy with the focus on RTK mode is proposed. A measuring jig is designed and manufactured. After verifcation of jig accuracy, a measurement of three dierent antennas is performed for subsequent comparison of basic characteristics. The work also contains instructions for operating the measuring jig.
|
guest ::
