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The design of control unit for UAV robot.
Arnošt, Petr ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
This diploma thesis is focused on the design of the control software for the unmanned aerial vehicle. Parrot Ar.Drone quadrocopter was a representative of the unmanned aerial vehicle. This thesis describes the way of control and communication with the unmanned aerial vehicle. Based of this information the flight control software for Ar.Drone quadrocopter is created.
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Stabilisation of a flying drone in dynamic environments
Škoda, Jan ; Barták, Roman (advisor) ; Obdržálek, David (referee)
This work describes the implementation of a system remotely a controlling flying drone that is able to stabilize and hold the drone still regardless of external influences and the inacurracy of sensors. That is achieved by utilizing visual data from the camera and information from sensors with neither any preceding knowledge of the environment nor a navigational signal. The core of the approach is a localization and mapping system tracking recognizable points in the camera image while maintaining a 3D map of those points. As the system can't measure the location of points seen through the camera or even the camera itself, it optimizes in real time and estimates the values of all those variables in order to minimize the total error. The output of visual localization is afterwards combined using the Kalman filter with non-visual navigational data. The filter then predicts future location using drone's dynamics model. The resulting location is then used for reactive navigation. Powered by TCPDF (www.tcpdf.org)
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Path planning in realistic 3D environments
Ondrejáš, Michal ; Barták, Roman (advisor) ; Surynek, Pavel (referee)
The thesis concerns with the implementation of a 3D environment editor with path-planning functionality and Parrot AR.Drone quadrocopter control, named Drone3D. It explores the principles of creating real-time applications and drawing 3D graphics in DirectX, followed by the implementation of 3D graphics and user interface of the editor. Then multiple path-planning so- lutions are examined - algorithms and environment representation options. It is determined that the best approach is to represent the environment as a grid of cubes and use the Lazy Theta* path-planning algorithm. This system is then implemented as a part of the editor. Finally, experiments with the Parrot AR.Drone follow and a basic method of navigating the aircraft using a given or algorithmically found path is created. The method is implemented as apart of the editor and multiple tests are performed to verify and review the solution. 1
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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The design of control unit for UAV robot.
Arnošt, Petr ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
This diploma thesis is focused on the design of the control software for the unmanned aerial vehicle. Parrot Ar.Drone quadrocopter was a representative of the unmanned aerial vehicle. This thesis describes the way of control and communication with the unmanned aerial vehicle. Based of this information the flight control software for Ar.Drone quadrocopter is created.
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