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Utilisations of the “Open Dynamics Engine” for modelling of mobile robots
Kovář, Jiří ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
This diploma thesis deals with the problems of virtual physical modelling of mobile robots for the needs of their real-time control. To create a virtual physical world, an open-source project OPEN DYNAMICS ENGINE (ODE) was used, the results were displayed facilitating DirectX graphical interface. Simulated systems in ODE were written in C# on Microsoft.NET platform. The properites and qualities in ODE were verified by simulation in several types of simple systems and on a simplified robot model "Kracmera I.". Subsequently, the usability of ODE for its control was being verified.
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Automatic environment generator design for mobile robot
Schreiber, Petr ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
This work deals with design and realization of automatic environment generator, serving for autonomous robot simulations. The author describes various approaches to implementation of interior environment generator and their relation to Open Dynamics Engine physics library and XODE file format. This work also includes verification of generator functionality with participation of virtual mobile robot.
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Physical Simulation of a Vehicle
Urbanovský, Jiří ; Pečiva, Jan (referee) ; Navrátil, Jan (advisor)
The work deals with issues from physical simulations and computer graphics. The goal of this thesis is to describe the key stones of simulation of a vehicle in real-time. It outlines physical laws describing movement and rotation of rigid bodies and springs. Physics is handled by the Open Dynamics Engine library, graphics is handled by the OpenGL library. The focus was on providing correct functionality of suspension, real behaviour of the underlay and the fluency of the simulation.
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Physical Simulation of a Vehicle
Urbanovský, Jiří ; Pečiva, Jan (referee) ; Navrátil, Jan (advisor)
The work deals with issues from physical simulations and computer graphics. The goal of this thesis is to describe the key stones of simulation of a vehicle in real-time. It outlines physical laws describing movement and rotation of rigid bodies and springs. Physics is handled by the Open Dynamics Engine library, graphics is handled by the OpenGL library. The focus was on providing correct functionality of suspension, real behaviour of the underlay and the fluency of the simulation.
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|
Utilisations of the “Open Dynamics Engine” for modelling of mobile robots
Kovář, Jiří ; Ondroušek, Vít (referee) ; Houška, Pavel (advisor)
This diploma thesis deals with the problems of virtual physical modelling of mobile robots for the needs of their real-time control. To create a virtual physical world, an open-source project OPEN DYNAMICS ENGINE (ODE) was used, the results were displayed facilitating DirectX graphical interface. Simulated systems in ODE were written in C# on Microsoft.NET platform. The properites and qualities in ODE were verified by simulation in several types of simple systems and on a simplified robot model "Kracmera I.". Subsequently, the usability of ODE for its control was being verified.
|
|
|
Automatic environment generator design for mobile robot
Schreiber, Petr ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
This work deals with design and realization of automatic environment generator, serving for autonomous robot simulations. The author describes various approaches to implementation of interior environment generator and their relation to Open Dynamics Engine physics library and XODE file format. This work also includes verification of generator functionality with participation of virtual mobile robot.
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