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Modelling and Control of Multi-Steered Wheeled Mobile Robots
Hrabec, Jakub ; Srovnal, Vilém (referee) ; Šeda,, Miloš (referee) ; Jura, Pavel (advisor)
Dizertační práce se zabývá problematikou kinematického modelování a řízení mobliních kolových robotů. Přináší sumarizaci problematiky kinematického modelování mobilních robotů obecně a popis vlastností kolových mobilních robotů s několika řízenými koly. Použitý aparát z matematiky, fyziky je vysvětlován s důrazem na pohled teorie řízení. Dále je prezentován nový řídicí algoritmus pro mobilní kolové roboty s více řízenými koly, vhodný pro úlohu stabilizace v bodě i sledování trajektorie, tedy obě nejčastěji řešené úlohy pohybu mobilních robotů.
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Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností
Jež, Ondřej ; Žalud, Luděk (advisor)
The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.
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Mapping a confined area using a mobile robot
Dolák, Šimon ; Nevoral, Tomáš (referee) ; Holoubek, Tomáš (advisor)
This thesis focuses on the setup of the TurtleBot3 Burger robot in the ROS (Robot Operating System) environment and the development of assigned laboratory tasks. One of the tasks involves navigating the robot in a closed unknown environment, utilizing sensors and algorithms for mapping and localization. The second task involves reading QR codes. Both programs are developed in the simulation environment Gazebo and applicable to a real robot. The thesis also includes a brief review of mobile robots and the Robot Operating System.
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Modelling and Control of Multi-Steered Wheeled Mobile Robots
Hrabec, Jakub ; Srovnal, Vilém (referee) ; Šeda,, Miloš (referee) ; Jura, Pavel (advisor)
Dizertační práce se zabývá problematikou kinematického modelování a řízení mobliních kolových robotů. Přináší sumarizaci problematiky kinematického modelování mobilních robotů obecně a popis vlastností kolových mobilních robotů s několika řízenými koly. Použitý aparát z matematiky, fyziky je vysvětlován s důrazem na pohled teorie řízení. Dále je prezentován nový řídicí algoritmus pro mobilní kolové roboty s více řízenými koly, vhodný pro úlohu stabilizace v bodě i sledování trajektorie, tedy obě nejčastěji řešené úlohy pohybu mobilních robotů.
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Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností
Jež, Ondřej ; Žalud, Luděk (advisor)
The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.
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