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Control System of Small Mobile Robot
Rysnar, Jiří ; Florián, Tomáš (referee) ; Žalud, Luděk (advisor)
This master’s thesis elaborates on the control of a wheeled mobile robot and its sensor system. The sensors provide information about distances of obstacles in its surroundings and orientation in area. The communication is realized by radiomodems, commands and data are sent by serial link between microncontroller and the PC.
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Multispectral Map Building in Mobile Robotics
Burian, František ; Mazal,, Jan (referee) ; Zemčík, Pavel (referee) ; Žalud, Luděk (advisor)
The dissertation deals with utilisation of multispectral optical measurement for data fusion that may be used for visual telepresence and indoor/outdoor mapping by heterogeneous mobile robotic system. Optical proximity sensors, thermal imagers, and tricolour cameras are used for the fusion. The described algorithms are optimised to work in real-time and implemented on CASSANDRA robotic system made by our robotic research group.
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Localisation of Mobile Robot in the Environment
Urban, Daniel ; Sochor, Jakub (referee) ; Veľas, Martin (advisor)
This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.
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Advanced Navigation in Heterogeneous Multi-robot Systems in Outdoor Environment
Jílek, Tomáš ; Duchoň,, František (referee) ; Mazal, Jan (referee) ; Žalud, Luděk (advisor)
The doctoral thesis discusses current options for the navigation of unmanned ground vehicles with a focus on achieving high absolute compliance of the required motion trajectory and the obtained one. The current possibilities of key self-localization methods, such as global satellite navigation systems, inertial navigation systems, and odometry, are analyzed. The description of the navigation method, which allows achieving a centimeter-level accuracy of the required trajectory tracking with the above mentioned self-localization methods, forms the core of the thesis. The new navigation method was designed with regard to its very simple parameterization, respecting the limitations of the used robot drive configuration. Thus, after an appropriate parametrization of the navigation method, it can be applied to any drive configuration. The concept of the navigation method allows integrating and using more self-localization systems and external navigation methods simultaneously. This increases the overall robustness of the whole process of the mobile robot navigation. The thesis also deals with the solution of cooperative convoying heterogeneous mobile robots. The proposed algorithms were validated under real outdoor conditions in three different experiments.
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Mobile devices for movement in dangerous environment
Bartušek, Jakub ; Pavlík, Jan (referee) ; Bilík, Martin (advisor)
This thesis deals with design of mobile robot for movement in dangerous environment. The first part of this thesis pays attention on area of mobile robot construction, different types of suitable sensors, motion planning algorithms and robot control. Second part is about construction and design of the robot. Motion planning algorithms are used for this robot and tested in enviroment.
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Mobile robot control system
Řezníček, Radek ; Kříž, Vlastimil (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with differential drive wheeled mobile robot which is running under a real-time operating system. Introductory part is focused on theoretical description of robot and its original firmware. Practical part deals with creating software and implementation several methods that allow following the line by robot using reflectance sensor array. Significant part of this thesis is focused on design and implementation of communication protocol, based on IEEE 802.15.4 which provides communication between robot and PC. There is also created a PC application that allows to transmit commands to the robot and display information gained from robot.
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GPS data usability in mobile robot navigation problem
Novák, Pavel ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work is focused on problems of the GPS/DGPS receiver precision used by mobile robot for navigation in outdoor environment. The first part deals with theoretical analysis of GPS, description of it´s functions, errors and their influence on measurements accuracy. Second part deals with practical measurements performed at two locations with different types of obstacles restricting the view to the sky and using the refining methods of measuring the DGPS or so-called differential GPS. The last part of study presents the measured results and its analysis.
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Indoor Robot - Mechanical Construction and Power Electronics
Maťas, Marek ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
The thesis is divided into several logical units. In the first part is described the topic of mobile robotics, construction, propulsion and control of mobile robots. Other parts are devoted to the design of robot’s mechanical structure, calculating the requirements for the proposed type of engines and drives. Finally, the control electronics for these engines is proposed, along with a program for microcomputer.
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Sensor Calibration for Multispectral Data Fusion in Mobile Robotics
Kalvodová, Petra ; Hanzl, Vlastimil (referee) ; Mazal,, Jan (referee) ; Pospíšil,, Jiří (referee) ; Weigel, Josef (advisor)
Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
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Possibility of hazardous environment monitoring
Mach, Jan ; Musil, Martin (referee) ; Blecha, Petr (advisor)
This bachelor’s thesis is about mobile robotics and usage it in electricity industry. First part solve ability of taking the fences and provide basic facts about mobile robotics, kind of chassis and purpose of usage to reader. Second part includes concepts of truck and position device with monitoring system. This concepts solve submission with reference to utility of monitoring device, mobile robot and price. Output of this work is constructive solving of mobile monitoring robot.
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