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Visual odometry for robotic vehicle Car4
Szente, Michal ; Krejsa, Jiří (referee) ; Najman, Jan (advisor)
This thesis deals with algorithms of visual odometry and its application on the experimental vehicle Car4. The first part contains different researches in this area on which the solution process is based. Next chapters introduce theoretical design and ideas of monocular and stereo visual odometry algorithms. The third part deals with the implementation in the software MATLAB with the use of Image processing toolbox. After tests done and based on real data, the chosen algorithm is applied to the vehicle Car4 used in practical conditions of interior and exterior. The last part summarizes the results of the work and address the problems which are asociated with the application of visual obmetry algorithms.
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Design of experimental mobile robot
Blatoň, Jan ; Řezníček, Svatopluk (referee) ; Čoupek, Pavel (advisor)
This bachelor´s thesis solves a design, structural design and subsequent vehicle body manufacture of experimental mobile robot Car4. The aim is proposition of uncommon and timeless vehicle body provided that all technical and technological requirements are complied. Emphasise is placed on unconventional appearance, functionality, resistence and manufacturability.
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Car4 vehicle remote control enhancement
Nejedlík, Tomáš ; Lamberský, Vojtěch (referee) ; Vejlupek, Josef (advisor)
This work deals with adding the LCD display to the remote control and its programming. At the introduction, we describe available data that we could get from the on-board sensors. Then we describe in detail how are the data transmitted between vehicle and its remote control, how the data are processed and then displayed. Also the modifications performed on the on-board electronic wiring and battery charging are discussed and described.
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Design of dynamic models for traction control of experimental vehicle
Jasanský, Michal ; Porteš, Petr (referee) ; Grepl, Robert (advisor)
The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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Development of controller unit for robotic vehicle Car4
Šůstek, Jan ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This bachelor thesis deals with creation of new control unit for experimental vehicle CAR4. In the first part there are described basic communication protocols and checksum algorithms. In the second part of the work, the electronic diagram of the new control unit and the printed circuit board are designed and control algorithm is optimized. Also there is established communication between control unit and computer and creation of DC motor speed regulation.
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Simulation of vehicle dynamics using V-REP software
Borek, Dušan ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This theasis deals with modeling dynamics and visualization of experimental vehicle CAR4 in software V-REP. The first part shows introduction with V-REP and its possibilities for usage in simulations. The second part presents modelling of CAR4 vehicle and its control by using software V-REP and Matlab. In last part are models of vehicle tested in simulation
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Algorithm for automatic parking for four wheel steering vehicle
Vrbková, Michaela ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
The bachelor thesis is focused on creating a designated parking assistant for the parallel parking of a vehicle with front and rear steering axels (hereinafter 4WS). There is a literature search in the field of 4WS kinematics and sensors available for parking in the bachelor thesis. Part of the bachelor thesis is newly created software to record the trajectories of a 4WS car, including a description of its functionality. The result of the bachelor thesis is an algorithm for parking assistance, which was theoretically simulated in the computer program Matlab and then tested on a real vehicle, "Car4" in the Mechatronic Laboratory FSI, Brno University of Technology.
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Application of SLAM algorithms for 4WS vehicle
Najman, Jan ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This paper deals with the application of SLAM algorithms on experimental four wheel vehicle Car4. The first part shows the basic functioning of SLAM including a description of the extended Kalman filter, which is one of its main components. Then there is a brief list of software tools available to solve this problem in the environment of MATLAB and an overview of sensors used in this work. The second part presents methodology and results of the testing of individual sensors and their combinations to calculate odometry and scan the surrounding space. It also shows the process of applying SLAM algorithms on Car4 vehicle using the selected sensors and the results of testing of the entire system in practice.
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