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Fusion of drone sensors for motion planning
Semerád, Jakub ; Novotný, Josef (referee) ; Janoušek, Jiří (advisor)
This bachelor thesis deals with drone flight planning in an unknown environment. In order for a drone to be able to perceive its environment, it must be equipped with the necessary sensory equipment. This thesis discusses possible sensor equipment suitable for flight coordination and collision avoidance. Also, software for sensor data processing and drone motion planning are described and used here. LiDAR and depth camera were used for the experiment in this thesis. In the experiment the data from both sensors are fused together through ROS software and displayed in RViz simulation environment. This data are suitable for subsequent use in drone motion planning and collision avoidance.
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Control of the UR5 robot from the Robotic Operating System (ROS)
Zdeněk, Marcel ; Formánek, Martin (referee) ; Radil, Filip (advisor)
The aim of the bachelor's thesis is to describe the Robotic Operating System (ROS) and its use. Next, create a laboratory task where the UR5e robot, based on data obtained from the depth camera, guides the end effector of the manipulator, so-called gripper, to grasp an object in space. The thesis describes the ROS and its extension packages MoveIt and Gazebo, which are mainly suitable for controlling and simulating manipulators and robots in general. At the end of the thesis, the implementation of HW with ROS and the procedure for designing a grasping algorithm and testing it on a laboratory task – finding and grasping coloured cubes in space and their subsequent assembly on top of each other are described.
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Fusion of drone sensors for motion planning
Semerád, Jakub ; Novotný, Josef (referee) ; Janoušek, Jiří (advisor)
This bachelor thesis deals with drone flight planning in an unknown environment. In order for a drone to be able to perceive its environment, it must be equipped with the necessary sensory equipment. This thesis discusses possible sensor equipment suitable for flight coordination and collision avoidance. Also, software for sensor data processing and drone motion planning are described and used here. LiDAR and depth camera were used for the experiment in this thesis. In the experiment the data from both sensors are fused together through ROS software and displayed in RViz simulation environment. This data are suitable for subsequent use in drone motion planning and collision avoidance.
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