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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
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Human detection using laser rangefinder
Němeček, Jakub ; Selingerová, Simona (referee) ; Krejsa, Jiří (advisor)
This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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3D laser range finder SICK application
Fritz, Tomáš ; Krček, Petr (referee) ; Marada, Tomáš (advisor)
This thesis presents a use of 3D laser range finder designed for purposes of autnonomous mobile systems. The 3D scanner is built as extension of 2D laser range finder with rotation module. In the first section is described laser range finder SICK LMS 291 and his pitching construction along with used software tools. Second part deals with design and implementation of algorithms for data reading and their processing with methods of surface reconstruction, octree and object segmentation with Hough transform.
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Local Navigation of an Autonomous Mobile Robot
Herman, David ; Rozman, Jaroslav (referee) ; Orság, Filip (advisor)
This paper deals with the topic of design of a navigation system for an autonomous mobile robot in a park-like environment. Precisely, designing methods for road detection using available sensoric system, designing a mathematical model for fusion of these data, and suggesting a representation of an environment suitable for planning and local navigation.
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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
|
|
|
3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
|
|
|
Local Navigation of an Autonomous Mobile Robot
Herman, David ; Rozman, Jaroslav (referee) ; Orság, Filip (advisor)
This paper deals with the topic of design of a navigation system for an autonomous mobile robot in a park-like environment. Precisely, designing methods for road detection using available sensoric system, designing a mathematical model for fusion of these data, and suggesting a representation of an environment suitable for planning and local navigation.
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|
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3D laser range finder SICK application
Fritz, Tomáš ; Krček, Petr (referee) ; Marada, Tomáš (advisor)
This thesis presents a use of 3D laser range finder designed for purposes of autnonomous mobile systems. The 3D scanner is built as extension of 2D laser range finder with rotation module. In the first section is described laser range finder SICK LMS 291 and his pitching construction along with used software tools. Second part deals with design and implementation of algorithms for data reading and their processing with methods of surface reconstruction, octree and object segmentation with Hough transform.
|
|
|
Human detection using laser rangefinder
Němeček, Jakub ; Selingerová, Simona (referee) ; Krejsa, Jiří (advisor)
This thesis describe dynamic obstacle detection and move tracking. Detection is based on laser rangefinder data. Tracking is based on compare two scans. Algorithm of localization method is processed in Matlab. In Matlab is also made simulation of scanned data. Filter parameters are tested and optimalized on this data.
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