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Mobile robot control system
Řezníček, Radek ; Kříž, Vlastimil (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with differential drive wheeled mobile robot which is running under a real-time operating system. Introductory part is focused on theoretical description of robot and its original firmware. Practical part deals with creating software and implementation several methods that allow following the line by robot using reflectance sensor array. Significant part of this thesis is focused on design and implementation of communication protocol, based on IEEE 802.15.4 which provides communication between robot and PC. There is also created a PC application that allows to transmit commands to the robot and display information gained from robot.
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Hardware and software for mobile robots
Sárközy, Gabriel ; Skula, David (referee) ; Veselý, Miloš (advisor)
The aim of this work is to modify hardware and software of small mobile robots, so they can be better used in Micromouse and Path Follower challenges. The first part of the project includes debugging and creating of a correct documentation of the existing electric circuits used in the robot called RUBRIK. My work was also to design and realize mechanical, electrical and software upgrades. The second part includes the design and realization of similar modifications of the robot ROBIK. Each robot has an Atmel AVR microcontroller. Robots are programmed in C programming language.
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Design of a small mobile robot for educational purposes
Železník, Gabriel ; Huzlík, Rostislav (referee) ; Zuth, Daniel (advisor)
The bachelor's thesis is focused on the design solution for a small educational mobile robot, with the possibility of producing most of the parts using 3D printing. The work is divided into research, design and implementation. The research part briefly describes a classification of the robot and the division of its individual subsystems. The research also describes three commercially available kits and the principle of 3D printing. The design part is reflected in the choice of electronics and gradually discusses the individual design solutions, including the design of API. The last part of the implementation presents three modifications based on the design, which are supplemented by notes for printing from various materials.
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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Odometer module for mobile robot
Davídek, Daniel ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The main objective of this work was the development and realization of odometric module for mobile robot envMap. The module processes signals from the incremental encoder and then calculates the position and direction of the robot together with the probability of its occurrence. The calculated data with a time stamp obtained from the GPS, are then sent to the above-system via the serial interface. For the realization the development board STM32F407G was chosen. f this board can be configured to function as an encoder input. This minimizes the possibility of encoder data loss when external interrupts are handled. The STM32F4 will not be any pull-back in the later development as there are plenty of peripherals on STM32F4. They were designed with two printed circuit boards: the reduction for the GPS module and shield-board for STM32F4. The equations for calculating odometric information and the probability of occurrence are included in this work. To calculate the movement of the robot, the equation considering only the movement on the plane surface is chosen. Later in this thesis there is also description of the source code for the STM32 and its functionality. In the results there is a complete connecting diagram along with the description of the utility program ODOMAT and communication messages. Finally, measurements correcting systematic error in parameters of the robot are described and there is the final odometry measurements compared with GPS localization as ground truth.
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Design of a small mobile robot for educational purposes
Železník, Gabriel ; Huzlík, Rostislav (referee) ; Zuth, Daniel (advisor)
The bachelor's thesis is focused on the design solution for a small educational mobile robot, with the possibility of producing most of the parts using 3D printing. The work is divided into research, design and implementation. The research part briefly describes a classification of the robot and the division of its individual subsystems. The research also describes three commercially available kits and the principle of 3D printing. The design part is reflected in the choice of electronics and gradually discusses the individual design solutions, including the design of API. The last part of the implementation presents three modifications based on the design, which are supplemented by notes for printing from various materials.
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Terrestrial Mobile Robot Undercarriagedisambiguation With Stress On Mecanum Wheels
Davídek, Daniel
The first step in new mobile robot design is the selection of undercarriage. If you are designing terrestrial robot you have commonly two options how to create movement with your actuators: a legged or wheeled drive. To select on of these categories, you should now the nature of the surface the mobile robot will most often get across. In this article commonly used wheeled drives and a few of legged robot examples are described with special attention to the omnidirectional Mecanum wheel undercarriage.
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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Mobile robot control system
Řezníček, Radek ; Kříž, Vlastimil (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with differential drive wheeled mobile robot which is running under a real-time operating system. Introductory part is focused on theoretical description of robot and its original firmware. Practical part deals with creating software and implementation several methods that allow following the line by robot using reflectance sensor array. Significant part of this thesis is focused on design and implementation of communication protocol, based on IEEE 802.15.4 which provides communication between robot and PC. There is also created a PC application that allows to transmit commands to the robot and display information gained from robot.
|
|
|
Odometer module for mobile robot
Davídek, Daniel ; Burian, František (referee) ; Jílek, Tomáš (advisor)
The main objective of this work was the development and realization of odometric module for mobile robot envMap. The module processes signals from the incremental encoder and then calculates the position and direction of the robot together with the probability of its occurrence. The calculated data with a time stamp obtained from the GPS, are then sent to the above-system via the serial interface. For the realization the development board STM32F407G was chosen. f this board can be configured to function as an encoder input. This minimizes the possibility of encoder data loss when external interrupts are handled. The STM32F4 will not be any pull-back in the later development as there are plenty of peripherals on STM32F4. They were designed with two printed circuit boards: the reduction for the GPS module and shield-board for STM32F4. The equations for calculating odometric information and the probability of occurrence are included in this work. To calculate the movement of the robot, the equation considering only the movement on the plane surface is chosen. Later in this thesis there is also description of the source code for the STM32 and its functionality. In the results there is a complete connecting diagram along with the description of the utility program ODOMAT and communication messages. Finally, measurements correcting systematic error in parameters of the robot are described and there is the final odometry measurements compared with GPS localization as ground truth.
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