|
|
Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
|
|
|
Device driver for the SICK LMS111 laser scanner for Raspberry Pi 2
Lahoda, Vlastimil ; Chromý, Adam (referee) ; Burian, František (advisor)
This thesis is focused on design and realization of the laser scanner driver SICK LMS111-1010 for minicomputer Raspberry Pi 2. In the first part the reader is familiar with the basic information about the laser scanner SICK LMS111-10100 and Raspberry Pi 2. It also focuses on the research Integrated Development Environment and the selection of the programming language. Following is the design and implementation of a class for full control of SICK LMS111-10100 skener from Raspberry Pi.
|
|
|
Device driver for the SICK LMS111 laser scanner for Raspberry Pi 2
Lahoda, Vlastimil ; Chromý, Adam (referee) ; Burian, František (advisor)
This thesis is focused on design and realization of the laser scanner driver SICK LMS111-1010 for minicomputer Raspberry Pi 2. In the first part the reader is familiar with the basic information about the laser scanner SICK LMS111-10100 and Raspberry Pi 2. It also focuses on the research Integrated Development Environment and the selection of the programming language. Following is the design and implementation of a class for full control of SICK LMS111-10100 skener from Raspberry Pi.
|
|
|
Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
|
guest ::
