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Navigation of B2 mobile robot in outdoor environment
Hoffmann, David ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.
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Development of mobile robot autonomous docking
Čepl, Miroslav ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This thesis implements solution for automatic docking for a mobile robot using visual markers. After initial survey of already implemented works, new docking solution is proposed. Feasibility of the solution is verified with tests of marker detection precision. The implementation is tested in a simulation and with a real robot. The functionality of the proposed solution is verified by long-term tests. The result of this work is robot’s ability to navigate known environment to find and dock a charging station. After charging the robot is able to safely disconnect from the station.
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Terrain Photographing from an Aircraft
Skočdopole, Jan ; Maršík, Lukáš (referee) ; Široký, Adam (advisor)
This thesis deals with terrain photography from an aircraft. Subject of solution includes phases of planning and preparation of flight, navigation, taking images and telemetry recording. For this purpose remote camera placed under planes hull and tablet with application placed in the cockpit are used.
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Determining of Dron Localization Using Navigation Systems
Nosál, Jan ; Goldmann, Tomáš (referee) ; Drahanský, Martin (advisor)
The thesis describes problems of drone navigation using navigation systems with which the navigation modules that have been tested are able to work. Next the issue with flight path and the determination of the incline and direction of the flight of the drones was solved also. Drones are more and more popular devices used for military, agricultural and commercial purposes. The thesis contains information about most used navigation systems which we encounter every day especially in cars and aircrafts. There were tested two navigation modules for drone localization. Modules capable of handling five navigation systems GPS, Glonass, Galileo, Beidou, QZSS and they can communicate with the Arduino board and IMU controller for drone positioning.
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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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Development of electronic parking system
Šmíd, Josef ; Strecker, Zbyněk (referee) ; Paloušek, David (advisor)
This bachelor thesis deals with the development of the electronic parking system, which is intended to navigate the drivers to the nearest vacancies, using the Arduino platform. The introductory part deals with an overview of the current state of knowledge. The research section provides an overview of the Arduino base plates and other modules and sensors selected for conceptual design solutions. The construction part deals with the design of the casing according to the selected components and the subsequent realization of the whole device, including the program, for testing under real conditions. The test results are finally evaluated and summarized in the final discussion.
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GNSS Navigated Mobile Robot
Chmelař, Jakub ; Jílek, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The diploma thesis is focused on the topic of global satellite navigation of mobile robots. The paper describes the principle of currently available global satellite navigation systems. The main element of the thesis is the proposal of mobile robot navigation algorithm. An integral part is also the design of a mobile robot to verify the functionality of the navigation algorithm. The robot software program is described. At the end, everything is verified by real experiments.
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Representation of the world in early maps
Jílková, Petra ; Bayer, Tomáš (advisor) ; Semotanová, Eva (referee)
Representation of the World in Early Maps Abstract The thesis deals with an analysis of the representation of the world in early small scale maps in the 16th - 18th centuries. The theoretical framework consists of the outline of the historical context of the given period with emphasis on the representation of the world in connection with the progress of the discoveries and the expansion of the geographical horizon. The development of navigation methods and technical means used to determine the latitude and longitude that had a direct impact on the positioning accuracy of topographic map elements are depicted, too. The practical part of the thesis is focused on the cartometric evaluation of selected map works of European cartographers of the period of 16th - 18th centuries, which consisted of the analysis of cartographic projection and the analysis of the positional accuracy of topographic content. The geometric accuracy of the maps is assessed mainly by the value of the positional deviations in the north-south and west-east directions. Based on the results of the cartometric evaluation, the evolution of the topographic content positioning is determined and the approximate time process of expanding the image of the known world on the contemporary maps is captured. The graphical outputs of the thesis are...
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Vliv podmínek práce stroje na přesnost řízení jeho pohybu
Šlampa, Martin
This bachelor thesis on the topic of The impact of conditions of work of machine on ac-curacy of steering of its movement deals with the methods of allowing accurate positio-ning on the Earth. The thesis presents and describes the most common ways of positio-ning and its principles. Major part is focused on the influences, which cause a deteriora-tion of accuracy of determining the position of the working conditions of the machine. The end of the thesis is devoted to possibilities of use of the navigation in agriculture
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Terrain passability analysis using machine understanding of maps
Pařík, David ; Jelínek, Aleš (referee) ; Chromý, Adam (advisor)
The diploma thesis deals with creation of computer aplication that can be used for conversion of raster maps for orienteering into model. Aplication will use this model to calculate optimal track between two selected locations. The thesis describes the development of a module for speed analysis in different types of terrain and another module for detection of roads and impassable objects. Thesis builds on work of Ing. Pavol Kršák and describes new features that were implemented to simplify user's control.
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