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Robocar The Autonomous Driving
Hnát, Miroslav
Ve své práci jsem se zabýval požadavky kladenými na automatické řízení. Rozvrhnul jsem reálné řešení a vybíral vhodný SW nástroj pro simulaci a realizaci dané problematiky. Dále jsem řešil model pro simulaci řízení pohonu, brzdění a natáčení kol ve volném prostranství. Definoval jsem možné chybové stavy a navrhl nutné ochrany. Další důležitou částí byla identifikace parametrů reálného automobilu a ověření tak správnosti modelu pomocí simulace. Následovalo zhodnocení případných odchylek od modelu, což mělo za cíl ověřit reakce reálného systému. Celé řešení jsem pak implementoval do jednotlivých komponent a srovnal jednotlivé komponenty s výsledky simulace. Na závěr jsem zhodnotil dosažené výsledky a navrhl další možná vylepšení.
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RC Car Conversion for Autonomous Driving
Novotný, Libor ; Prokop, Aleš (referee) ; Janoušek, Michal (advisor)
This master’s thesis deals with rebuild of RC car model for use of autonomous sensors. Practical part of the thesis is divided to five main parts. The First part deals about selection of suitable RC model. Next part of thesis deals with detailed description of the RC model. The third part of thesis deals about selection of microcontroller which will be processing the model control. The fourth part of thesis deals about construction changes of the model. The last part of thesis deal about Simulink control of the vehicle.
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Concept design of a Long-Range Car
Baka, Michal ; Siebert, Petr (referee) ; Křenek, Ladislav (advisor)
The topic of this diploma thesis is concept design long-range car of future, using electric drive. The main goal is to solve analyzed problems, which are reflected in the conceptual design of the vehicle that meets the ergonomic, technical and visual aspects, all focused in car interior.
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Autonomous vehicle for traffic situation model
Schneiderka, Dominik ; Boštík, Ondřej (referee) ; Janáková, Ilona (advisor)
This thesis describes development of autonomous car for Carrera 143 racing track. Main objective of a car is to stop when traffic light shows red, or when there is an obstacle infront of a car. This paper also describes electric schemes used to control the car and their placement on the car. Algorithms developed for image processing are developed for processing unit Raspberry Pi Zero and are written in C/C++ programming language. OpenCV library is used for image processing. All source codes were developed in Microsoft Visual Studio 2019.
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Autonomous and dispatching control of distributed power generating plants operated in the HV distribution system
Dvořáček, Jiří ; Jurík, Michal (referee) ; Drápela, Jiří (advisor)
Theses focuses on the evaluation of the possible means of active and reactive power control of generating units connected to medium voltage. First part summarizes analysis of Czech Republic medium voltage distribution grid. It summarizes means of autonomous and dispatcher control of generating units with respect to European Comission directive RfG, standard ČSN EN 50549-2 and national implementation PPDS. Following parts provide description of generating unit and distribution grid models used for simulation in PSCAD. Last part focuses on evaluation of results obtained via simulating steady-state scenarios as well as continuous simulation.
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Control System for Outdoor Mobile Robot
Skočdopole, Tomáš ; Burian, František (referee) ; Žalud, Luděk (advisor)
The aim of this thesis is the design and practical realization of control system based on operating system GNU/Linux for mobile robots operating outdoors. The task of the robot is automatically driving through waypoints in a previously unknown environment. First part contains a description of the environment for the implementation of software, introduces individual parts of the software and then describes communication with the robot peripherals. The second section describes the solution of control and navigation algorithms. At first shows a way to enter the path for independently moving, next an introduction to image processing from the camera and at last determining the direction of movement based on data obtained from the sensory subsystem.
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Design of Tandem Roller
Otruba, Radim ; Surman, Martin (referee) ; Křenek, Ladislav (advisor)
The thesis deals with the design of the tandem roller with autonomous control. The proposal takes into account the technical nature of the machine and conceptual image of construction equipment intended for compaction work . To solve this problem the basic characteristic elements of autonomous means have been defined and subsequently applied to the proposal. An ergonomic aspect when operating and servicing the machine also has been taken into account. The final draft has been prepared and described in the practical part.
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Mobile platform for testing autonomous vehicle sensors
Valla, Tomáš ; Ramík, Pavel (referee) ; Štětina, Josef (advisor)
The aim of this diploma thesis is to create a design of a mobile platform. The platform contains all the necessary electronics from conventional RC models and thus the RC control itself is guaranteed. It is also equipped with a light but solid platform, which is suitable for attaching the necessary sensors, lidars, cameras and other necessary accessories. Part of the work is also a brief overview of the division of RC models and evaluation of the components used for possible construction of the model. The final chapter is devoted to FEM analysis, where the load-bearing capacity of the platform under different load models is checked by means of structural analysis. Using modal analysis, the platform's own critical frequencies were determined and compared to the frequencies that are transmitted when driving on the road.
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