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Image processing on Raspberry Pi platform for mobile robotics
Kapitančik, Maroš ; Richter, Miloslav (referee) ; Horák, Karel (advisor)
This thesis deals with developing of image processing algorithm for robots controlled by informations taken from visual system. Core of the used system constitutes low-budget platform Raspberry Pi. Before the development of algorithm there is a series of test for image processing which discovers possibilities of used platform. Problem solution is divided to several parts. Limited performance frequently leads to individual problem solving. Afterall is shown sensitivity and performance analysis of developed solution.
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System for autonomous racetrack mapping
Soboňa, Tomáš ; Gábrlík, Petr (referee) ; Kopečný, Lukáš (advisor)
The focus of this thesis is to theoretically design, describe, implement and verify thefunctionality of the selected concept for race track mapping. The theoretical part ofthe thesis describes the ORB-SLAM2 algorithm for vehicle localization. It then furtherdescribes the format of the map - occupancy grid and the method of its creation. Suchmap should be in a suitable format for use by other trajectory planning systems. Severalcameras, as well as computer units, are described in this part, and based on parametersand tests, the most suitable ones are selected. The thesis also proposes the architectureof the mapping system, it describes the individual units that make up the system, aswell as what is exchanged between the units, and in what format the system output issent. The individual parts of the system are first tested separately and subsequently thesystem is tested as a whole. Finally, the achieved results are evaluated as well as thepossibilities for further expansion.
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Mobile platform path planning algorithm design
Smolinský, Michal ; Kůdela, Jakub (referee) ; Holoubek, Tomáš (advisor)
The aim of this master's thesis is to create a program of selected laboratory tasks for the mobile robot TurtleBot3 Burger. These tasks are the mapping of an unknown environment and the design of a path planning algorithm using the ROS framework. The first chapters of the work, which describe the field of mobile robotics, the TurtleBot3 Burger robot, the Robotic Operating System, the used path planning algorithms, and The ROS Navigation Stack, are devoted to clarifying the necessary knowledge. After the robot is put into operation, the mapping and path planning task is created. The following chapter is dedicated to verifying the functionality of both tasks, which also includes a comparison of the used path planning algorithms. The evaluation of the application of the algorithms on the TurtleBot3 Burger platform, the benefits of the proposed algorithms and their practical use in a real environment is described in the final chapter of this work.
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System for autonomous racetrack mapping
Soboňa, Tomáš ; Gábrlík, Petr (referee) ; Kopečný, Lukáš (advisor)
The focus of this thesis is to theoretically design, describe, implement and verify thefunctionality of the selected concept for race track mapping. The theoretical part ofthe thesis describes the ORB-SLAM2 algorithm for vehicle localization. It then furtherdescribes the format of the map - occupancy grid and the method of its creation. Suchmap should be in a suitable format for use by other trajectory planning systems. Severalcameras, as well as computer units, are described in this part, and based on parametersand tests, the most suitable ones are selected. The thesis also proposes the architectureof the mapping system, it describes the individual units that make up the system, aswell as what is exchanged between the units, and in what format the system output issent. The individual parts of the system are first tested separately and subsequently thesystem is tested as a whole. Finally, the achieved results are evaluated as well as thepossibilities for further expansion.
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Image processing on Raspberry Pi platform for mobile robotics
Kapitančik, Maroš ; Richter, Miloslav (referee) ; Horák, Karel (advisor)
This thesis deals with developing of image processing algorithm for robots controlled by informations taken from visual system. Core of the used system constitutes low-budget platform Raspberry Pi. Before the development of algorithm there is a series of test for image processing which discovers possibilities of used platform. Problem solution is divided to several parts. Limited performance frequently leads to individual problem solving. Afterall is shown sensitivity and performance analysis of developed solution.
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