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Mobile robot path planning by means of ant algorithms
Sedlák, Václav ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This thesis deals with robot path planning by means of ant colony optimization algorithms. The theoretical part of this thesis introduces basics of path planning problematics. The theoretical part either deals with ant algorithms as optimization and path planning tools. The practical part deals with design and implementation of path planning by means of ant algorithms in Java language.
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Robot navigation by means of graph-based algorithms
Čížek, Lubomír ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This thesis deals with robot path planning by means of graph-based algorithms. The theoretical part contains basic approaches to robot path planning, and pay closer look at various methods of graph-based algorithms. In the second part of this thesis a simulation environment for robot navigation was created in C#. And in this environment chosen methods of graph-based algorithms have been implemented. This thesis was written within the research project MSM 0021630529: Intelligent systems in automation.
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Design of path planning library for mobile robot
Novotný, Michal ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
This thesis deals with analyses of problems of path planning by means Rapidly-exploring Random Trees (RRT) algorithm. The teoretic part described of basic terms and navigation mobile robots. There are localization, mapping and path planning parts of navigation. Then it is description overview of localization of methods and overview of robot path planning methods. The practical describes implementation of proposed method in Delphi. The best method for path planning of robot using RRT algorithm. For reservation universal communications interface is application creation like dynamic library.
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Guiding of Mobile Robot
Podivín, Ladislav ; Hrabec, Jakub (referee) ; Lebeda, Ondřej (advisor)
This bachelor’s thesis deals with design and implementation of control algorithms for GPS guided mobile robot Ryder. Especially two main abstract layers of mobile robot control are discussed - planning algorithm and algorithm providing steering control. The Ryder robot is equipped with several types of range sensors and based on Ackerman's steering. Its purpose is autonomous movement from start point to goal point without any collision with obstacles.
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Robot Path Planning (RRT)
Knispel, Lukáš ; Matoušek, Radomil (advisor)
This thesis deals with path plannig of omnidirectional mobile robot using the RRT algorithm (Rapidly-exploring Random Tree). Theoretical part also describes basic algorithms of path planning and presents closer view on RRT and its potential. Practical part deals with designing and creation of C++ linux application in Ubuntu 9.10 environment with Qt 4.6 application framework, which implements advanced RRT algorithm with user-programmable solver and batch mode in order to test efectivity of solver on given tasks.
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Robot path planning by means of ant systems
Sedlák, Václav ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This thesis deals with robot path planning by means of ant systems. The theoretical part contains an introduction to the path planning of mobile robots and an introduction to ant systems as optimization and path planning tool. The practical part deals with design and program implementation of path planning by ant systems in Borland Delphi 7 environment.
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Covering the Working Space of Mobile Robot
Krejsa, Jiří ; Věchet, Stanislav
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
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Plánování cesty pro čtyřnohého kráčejícího robota použitím rychlých náhodných stromů
Krejsa, Jiří ; Věchet, S.
Summary: There are several randomized methods for problem of path planning. Rapidly exploring random trees (RRT) is a method which can deal with constraints typical for legged walking robots, e.g. limitations in rotation step resolution. Paper describes the RRT method itself and its use for path planning of four-legged walking robot, including special failure case when robot is capable of only rotating in one direction. The method proved to be robust and fast.
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