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Expert Systems and Advanced Algorithms in Mobile Robots Path Planning
Abbadi, Ahmad ; Šeda, Miloš (referee) ; Volná,, Eva (referee) ; Matoušek, Radomil (advisor)
Metody plánování pohybu jsou významnou součástí robotiky, resp. mobilních robotických platforem. Technicky je realizace plánování pohybu z globální úrovně převedena do posloupnosti akcí na úrovni specifické robotické platformy a definovaného prostředí, včetně omezení. V rámci této práce byla provedena recenze mnoha metod určených pro plánování cest, přičemž hlavním těžištěm byly metody založené na tzv. rychle rostoucích stromech (RRT), prostorovém rozkladu (CD) a využití fuzzy expertních systémů (FES). Dosažené výsledky, resp. prezentované algoritmy, využívají dostupné informace z pracovního prostoru mobilního robotu a jsou aplikovatelné na řešení globální pohybové trajektorie mobilních robotů, resp. k řešení specifických problémů plánování cest s omezením typu úzké koridory či překážky s proměnnou polohou v čase. V práci jsou představeny nové plánovací postupy využívající výhod algoritmů RRT a CD. Navržené metody jsou navíc efektivně rozšířeny s využitím fuzzy expertního systému, který zlepšuje jejich chování. Práce rovněž prezentuje řešení pro plánovací problémy typu identifikace úzkých koridorů, či významných oblastí prostoru řešení s využitím přístupů na bázi dekompozice prostoru. V řešeních jsou částečně zahrnuty sub-optimalizace nalezených cest založené na zkracování nalezené cesty a vyhlazování cesty, resp. nahrazení trajektorie hladkou křivkou, respektující lépe předpokládanou dynamiku mobilního zařízení. Všechny prezentované metody byly implementovány v prostředí Matlab, které sloužilo k simulačnímu ověření efektivnosti vlastních i převzatých metod a k návrhu prostoru řešení včetně omezení (překážky). Získané výsledky byly vyhodnoceny s využitím statistických přístupů v prostředí Minitab a Matlab.
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Journey Planning System
Vrba, Bohumil ; Letko, Zdeněk (referee) ; Ruttkay, Ladislav (advisor)
Bachelor's thesis covers design and developing of web application which serves for planning itinerary. I use Google Maps technogy to display and plan the journies. The thesis describes applied technology especially ASP.NET, database system MS SQL Server and Google map system. It is also dedicated to requirements specification, their registration with the help of language UML and design of data model. It is devoted to the implementation of aplication with an emphasis on used architecture.
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Trip Planning - Mashup
Přichystal, Štěpán ; Svoboda, Pavel (referee) ; Kajan, Rudolf (advisor)
The target of this thesis is creating an mashup aplication for planning trip, which combines dates from more sources. The thesis contains theoretic informations of problems concerned about the topic so it is focused on explication of notion Web 2.0, then it is focused on acquaint with mashup applications and their types and on desription of characterizations of RIA applications and their technologies. It is not omitted even an acquaint with implementing technology Silverlight, that is dedicated relatively a lot of place in this thesis. The other part of thesis contains single period of development of application. The chapters describes an analysis of entering, the proposal, a brief description of implementation and testing. The finish of the thesis is dedicated to estimation and thinking of pertinent enlargement of application in the future.
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Route Planning in Air Transport
Sychra, Marek ; Krčmář, Radim (referee) ; Křivka, Zbyněk (advisor)
The problem of route planning in air transport (in public transport in general ) is similar to the shortest path problem. The main differences are the time dependency of the input graph and the multicriterial aspect of the path costs . The aim of this thesis was to create a complex system that would be able to load elementary flights from database and then respond to user requests with combined journeys made from single flights . It was achieved using two state of the art algorithms , CSA and RAPTOR , which were adapted for the flight graph. The experiments which were run on real world data showed massive speedup of the algorithms when using the proposed optimisations . The whole system was also tested against an existing proprietary solution .
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Multirobot Path Planning in a Dynamic System
Dokoupil, Ladislav ; Veigend, Petr (referee) ; Zbořil, František (advisor)
This thesis deals with the problem of dynamic environment search using multi-agent systems. The primary result of this work is participation in the MAPC2022 contest, but the application can be found in the exploration of unknown space, assuming finite visibility and unlimited distance of communication of the agents. After describing the current methods for solving the given problem and their limitations, an algorithm based on ant colony optimization is proposed. Graphs were then created with data from running program with various parameters. The result of work is agents synchronization improvements and overall optimization of the platform involved in the mentioned contest from previous year. As a result half more of explored space was measured compared to previous solution.
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Multirobot Path Planning in a Dynamic System
Dokoupil, Ladislav ; Veigend, Petr (referee) ; Zbořil, František (advisor)
This thesis deals with the problem of dynamic environment search using multi-agent systems. The primary result of this work is participation in the MAPC2022 contest, but the application can be found in the exploration of unknown space, assuming finite visibility and unlimited distance of communication of the agents. After describing the current methods for solving the given problem and their limitations, an algorithm based on ant colony optimization is proposed. Graphs were then created with data from running program with various parameters. The result of work is agents synchronization improvements and overall optimization of the platform involved in the mentioned contest from previous year. As a result half more of explored space was measured compared to previous solution.
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From abstract to executable plans
Wiesner, Robert ; Barták, Roman (advisor) ; Švancara, Jiří (referee)
This thesis delves into postprocesing on plans for Multi Agent Path Finding. The intent behind postprocesing is to chang the plans so they can be performed by real robots. Changes include reduction in wasted time and introduction of robustness. This thesis proposes five algorithms (later extended to ten), through which MAPF plans are being transfered to a significantly lower level of abstraction. Results were tested on sixty plans created by MAPF solver MAPF Scenatio over five maps. Some resulting plans were tested in real life on robots Ozobot Evo. Results indicate that significantly lower makespan and greater robustness can be achieved through postprocessing. This study also indicates that various algorithms are more effective for certain types of plans.
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Route Planning in Air Transport
Sychra, Marek ; Krčmář, Radim (referee) ; Křivka, Zbyněk (advisor)
The problem of route planning in air transport (in public transport in general ) is similar to the shortest path problem. The main differences are the time dependency of the input graph and the multicriterial aspect of the path costs . The aim of this thesis was to create a complex system that would be able to load elementary flights from database and then respond to user requests with combined journeys made from single flights . It was achieved using two state of the art algorithms , CSA and RAPTOR , which were adapted for the flight graph. The experiments which were run on real world data showed massive speedup of the algorithms when using the proposed optimisations . The whole system was also tested against an existing proprietary solution .
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Trip Planning - Mashup
Přichystal, Štěpán ; Svoboda, Pavel (referee) ; Kajan, Rudolf (advisor)
The target of this thesis is creating an mashup aplication for planning trip, which combines dates from more sources. The thesis contains theoretic informations of problems concerned about the topic so it is focused on explication of notion Web 2.0, then it is focused on acquaint with mashup applications and their types and on desription of characterizations of RIA applications and their technologies. It is not omitted even an acquaint with implementing technology Silverlight, that is dedicated relatively a lot of place in this thesis. The other part of thesis contains single period of development of application. The chapters describes an analysis of entering, the proposal, a brief description of implementation and testing. The finish of the thesis is dedicated to estimation and thinking of pertinent enlargement of application in the future.
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Journey Planning System
Vrba, Bohumil ; Letko, Zdeněk (referee) ; Ruttkay, Ladislav (advisor)
Bachelor's thesis covers design and developing of web application which serves for planning itinerary. I use Google Maps technogy to display and plan the journies. The thesis describes applied technology especially ASP.NET, database system MS SQL Server and Google map system. It is also dedicated to requirements specification, their registration with the help of language UML and design of data model. It is devoted to the implementation of aplication with an emphasis on used architecture.
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