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Návrh algoritmu jízdní stability pro laboratorní model vozidla
Šulc, Michael ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This Master's thesis deals with a research study in the area of modelling the dynamics of a four-wheel drive (4WD) and four-wheel steer (4WS) vehicle, including a tyre model together with the design of vehicle stability control algorithms. The work also includes making the necessary modifications to the experimental vehicle, including the design of new control electronics. Based on the proposed dynamic model, the estimation of the necessary vehicle parameters is carried out. On the simulation model, ABS/ASR driving stability algorithms are designed, which are than implemented on the experimental vehicle.
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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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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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Trajectory planning for vehicle with four steering and driven wheels
Trávníček, Tomáš ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This thesis deals with trajectory planning and driving for two-wheel steering (2WS) and four-wheel steering (4WS) vehicle in environment with static obstacles. Algorithms, mentioned in the search, are used for planning the path for vehicles with front wheel steering. The kinematic model is ana-lyzed and simplified. The problem of trajectory planning is solved in Matlab using trajectory dis-cretization and searching within the state space. The implemented algorithm deals with obstacle collisions as long as the map is obtained, therefore the planning does not take so much computa-tional time. Finally, the algorithm is tested on a two-wheel minibike. The solution is applicable for variety of vehicles with additional movement possibilities, even when adapted it can deal with planning in the three dimensional workspace. The results of this thesis are applicable for planning for 2WS and 4WS vehicles.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Visualization of 4WS and 4WD vehicle movement
Blechta, Martin ; Vejlupek, Josef (referee) ; Lamberský, Vojtěch (advisor)
The aim of the thesis is to develop a graphical interface for visualization of 4WS and 4WD vehicle movement defined by its mathematical model. The visualization allows testing of various dynamic and kinematic models. The visualization is controlled either with joystick or a program input. An algorithm for rear wheels steering in dependence on speed is created and validated with a computational simulation and an experiment. The mathematical model defining the vehicle movement is connected with the dSPACE system enabling real time control. The thesis evaluates advantages and disadvantages of using the MLIB library for communication between dSPACE system and MATLAB.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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