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Localisation of Mobile Robot in the Environment
Urban, Daniel ; Sochor, Jakub (referee) ; Veľas, Martin (advisor)
This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.
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Mobile robot path planning
Klobušníková, Zuzana ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This master thesis deals with the planning of the robot's path using selected graph algorithms of artificial intelligence. The theoretical part describes the basic methods of planning a robot's path. It is related to the graph algorithm more closely. The practical part deals with implementation of selected graph algorithms, creation of simulation environment in Python, description and evaluation of experiments.
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Design of watering module for mobile robot
Vizváry, Peter ; Králík, Jan (referee) ; Krejsa, Jiří (advisor)
The diploma thesis is focused on the design of a watering module for a mobile robot. The main goals of this work are to design various concepts of the watering module and their subsequent comparison, ending with the selection of the final concept, which results in its implementation in the form of a prototype with subsequent testing of its properties. The first part of this work is focused on the analysis of the issue and the definition of the assigned task together with the main parameters and requirements. The second part contains an overview of known solutions to the issue and designs for own concepts of the watering module and its individual components. The designs are compared and evaluated in terms of their performance, complexity and price. In the third part, based on the evaluation of the most promising variants, there is a selection of the final concept and after that designing and selection of the final constructional solution. The fourth part is focused on the design and implementation of the prototype, contains the selection and design of the necessary components, module assembly and the creation of the control algorithm of the watering module. The final fifth part contains testing of the functional properties of the prototype, their evaluation and subsequent suggestions for its improvement.
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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Teleoperation Interface for a Semi-Autonomous Vehicle Using Virtual Reality
Revický, Peter ; Kapinus, Michal (referee) ; Rozman, Jaroslav (advisor)
The goal of this work is to come up with user interface in virtual reality for vehicle robot teleoperation that is equipped with cameras, Velodyne laser distance meter and localization system. The user interface is designed with generally accepted methods for creation of user interfaces in virtual reality. This work also deals with the problem of sickness from VR. The user interface is implemented in Unity3D game engine. The HTC Vive Pro virtual reality kit was used during implementation and testing.
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Lowcost proximity sensor for mobile robot based on SRF05 sensor
Majerčík, Pavel ; Najman, Jan (referee) ; Krejsa, Jiří (advisor)
This master's thesis deals with determination of properties of the ultrasonic sensor SRF05. It is about finding factors that distort or have other negative effects in any way on the proper functionality of these sensors. First of all, it was necessary to program a chip mounted on signal processing board for correct functionality and operation of sensors. Then a few sets of measurements were done to determine the behaviour of sensors for different distances. In addition, we had to carry out many more measurements to find out the influence of temperature, light conditions, material of the sensed surface or cross-noise caused by the use of multiple sensors. In the next step, the approximate shape of the transmitted ultrasound was investigated to determine the zone of detection. The last task of this thesis was to compare the SRF05 sensors with other ultrasonic sensors from different manufacturers.
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Design of watering module for mobile robot
Vizváry, Peter ; Králík, Jan (referee) ; Krejsa, Jiří (advisor)
The diploma thesis is focused on the design of a watering module for a mobile robot. The main goals of this work are to design various concepts of the watering module and their subsequent comparison, ending with the selection of the final concept, which results in its implementation in the form of a prototype with subsequent testing of its properties. The first part of this work is focused on the analysis of the issue and the definition of the assigned task together with the main parameters and requirements. The second part contains an overview of known solutions to the issue and designs for own concepts of the watering module and its individual components. The designs are compared and evaluated in terms of their performance, complexity and price. In the third part, based on the evaluation of the most promising variants, there is a selection of the final concept and after that designing and selection of the final constructional solution. The fourth part is focused on the design and implementation of the prototype, contains the selection and design of the necessary components, module assembly and the creation of the control algorithm of the watering module. The final fifth part contains testing of the functional properties of the prototype, their evaluation and subsequent suggestions for its improvement.
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Teleoperation Interface for a Semi-Autonomous Vehicle Using Virtual Reality
Revický, Peter ; Kapinus, Michal (referee) ; Rozman, Jaroslav (advisor)
The goal of this work is to come up with user interface in virtual reality for vehicle robot teleoperation that is equipped with cameras, Velodyne laser distance meter and localization system. The user interface is designed with generally accepted methods for creation of user interfaces in virtual reality. This work also deals with the problem of sickness from VR. The user interface is implemented in Unity3D game engine. The HTC Vive Pro virtual reality kit was used during implementation and testing.
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Localisation of Mobile Robot in the Environment
Urban, Daniel ; Sochor, Jakub (referee) ; Veľas, Martin (advisor)
This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.
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