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Modelling and control of wheeled mobile robots
Sypták, Michal ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
Control of wheeled chassis does not constitute a problem in the area of mobile robotic solely. Rather, it can be encountered in transportation, both at close range and long range. In this thesis, mobile chassis are characterized as kinematic models. These models prove to be erroneous at high speed, whereas they sufficiently accurately represent the real robotic system in situations when slow, autonomous motion of the robot is desired. In comparison with dynamic models, both their project and implementation are simpler, too. The first part of this thesis is focused on a basic description of the motion of a robot in-plane. In the next part, five, most frequently used wheels in robotics are described and characterized - standard fixed wheels, standard steering wheels, castor wheels, multidirectional wheels and omnidirectional wheels. The motion conditions are deduced from each type of wheel. There are two methods of projecting the mobile robot model – full modelling and generic modelling. Based on these two methods, six models of mobile robots with different motion properties are proposed and described. The last and most extensive part of this thesis deals with simulator of robot motion created in Matlab/Simulink. It includes users guide which allows the configuration of random chassis and various trajectories of motion. In this way, it is possible to visually evaluace and classify the the different types of robots. The core of this thesis is largely connected with the field of odometry – i.e. transformation output from speed sensor and turning of wheels sensor into the robot position in the system of coordinates that defines its working space. Simulator as complex only model motion of mobile robots in plain. Its inside structure included algoritms, that have been used in praxis for control real mobile robots. In this way created Simulator models the motion of mobile robots in-plain only. However, its inside structure is based on algorithms, that could be used for control of real mobile robots in real-life working.
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Sensor system design for mobile robot based on ROS framework
Tomáš, Petr ; Mašek, Petr (referee) ; Věchet, Stanislav (advisor)
The essence of this master thesis is design and implementation of sensor system based on robotic framework which is called ROS (Robot Operating System). The main task is to perform detailed analysis and test of capabilities of the framework with final implementation on specific robot application (sensor system) with following evaluation of applicability of the system in mobile robotics. As parallel aim is to create detailed general and practical guide for beginners with ROS which they are also beginners in Linux based operating systems.
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LIDAR and Stereocamera in Localization of Mobile Robots
Vyroubalová, Jana ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
LIDAR (2D) has been widely used for mapping, localization and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method how measurements from a stereo camera and LIDAR are fused to dynamical mapping. An occupancy grid map from LIDAR data is used as prerequisite and extended by a 2D grid map from stereo camera. This approach is based on the ground plane estimation in disparity map acquired from the stereo vision. For the ground plane detection, RANSAC and Least Squares methods are used. After obstacles determination, 2D occupancy map is generated. The output of this method is 2D map as a fusion of complementary maps from LIDAR and camera. Experimental results obtained from RUDA robot and MIT Stata Center Data Set are good enough to determine that this method is a benefit, although my implementation is still a prototype. In this paper, we present the applied methods, analyze the results and discuss the modifications and possible extensions to get better results.
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ROS framework utilization for autonomous mobile robot control system
Vávra, Patrik ; Krejsa, Jiří (referee) ; Appel, Martin (advisor)
Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.
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Four legged walking robot
Veleba, Tomáš ; Krištůfková Dvorská, Jolana (referee) ; Neužil, Tomáš (advisor)
The diploma paper deal with control problems of a four legged walking robot. They endeavour to establish and partly implement the walking and control algorithms. They are divided into six parts. Individual chassis types and their advantages and drawbacks are analysed in introduction. Next part describes mechanical design of the robot and also all realised electronics facilities. The third part describes in detail sensors that are used by the robot. Following part deals with description of robot's walking. It explains individual walking phases and analyses both static and dynamic stability. Next part contains description of the robot's software facility. The software facility of the control micro-controller and the algorithm that generates walking are explained in this part. It also describes software facility of control application in computer. Exploration of the possibilities for wireless control is carried out in the last part.
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Omnidirectional chassis control
Hrazdira, Adam ; Burian, František (referee) ; Šembera, Jaroslav (advisor)
The aim of this work is to design and implement software for omnidirectional chassis control. The document takes into account a real model of the chassis. Furthermore, the text presents the principles of the chassis and the client program for control. In the end the possibility of communication and control with Matlab Simulink environment is discussed.
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Omnidirectional chassis
Mejzlík, Bohumír ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
The master's thesis deals with the functional model design of the omnidirectional chassis and its implementation. It is focused on construction of the omnidirectional chassis and choosing the suitable hardware equipment.It also deals with a project of control software for a mini-computer and a design of graphic application in the PC.
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Software interface implementation for OmniVision camera
Tomáš, Petr ; Marada, Tomáš (referee) ; Věchet, Stanislav (advisor)
The main aim of this bachelor degree thesis is to analyse and test potential of special camera module (OmniVision image sensor) and to evaluate its applicability to the mobile robotics. In the first part of this work a research method was used which compares and evaluates information gained from the camera systems most widely used in the mobile robotics. The main source for this part of the work was Internet. In the next part, research method was applied which helped to obtain data, to explain important concepts as well as to get new information about the camera module itself. The conclusion of this thesis focuses on the use of the recommended programming language in order to solve the problem which was under examination and to draw my own conclusions concerning the applicability of the image sensor to the practise. This bachelor degree thesis offers a suggestion how to implement hardware and software interface for the camera module chosen. A new test application was developed for the purpose of this work to represent basic potential of the image sensor. It also creates basis for the use of the camera module in different applications. This work also provides factual information for new users how to use this or similar camera with OmniVision sensor quickly and effectively. This camera module is suitable for the mobile robotics and it can be recommended for small mobile robots with low energy content. Concretely, this module makes it possible to pre-elaborate the image due to its program possibilities and wide range of ways how to configure the scanned scene right in the image sensor.
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Design and implementation of control program for mobile robot platform Turtlebot3 Burger
Filip, Jakub ; Lacko, Branislav (referee) ; Parák, Roman (advisor)
The aim of the bachelor thesis is the design and implementation of a control program for the mobile robotic platform TurtleBot3 Burger. The theoretical part of the bachelor's thesis defines the issue of mobile robotics, with a closer look at the various possibilities of locomotion, including examples from industrial practice. The TurtleBot3 mobile robot series belongs to the robotic platforms distributed by ROBOTIS, where their main feature is compatibility with the Robotic Operating System (ROS). The core of this system is licensed under the BSD, which guarantees open source code. The integration of ROS with the TurtleBot3 Burger model provides freely accessible robust libraries, which form the basis for understanding the control of a differentially controlled robot through ROS. In the practical part, the assembly and configuration of the robotic kit TurtleBot3 Burger is performed, including the introduction of key functionalities of this mobile platform, and the design of your own solution. The conclusion contains the justification of the mentioned proposal and the output after its implementation on a real robot.
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Communication in Mobile Robotics
Hýbl, Matouš ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
Cílem této práce je poskytnout náhled do způsobů, jakými by se daly vylepšit komunikační spoje používané v mobilní a zejména servisní a záchranářské robotice. Elektromagnetické spektrum, zejména rádiové spektrum, je rozebráno vzhledem k nutnosti určit frekvence na kterých je možné komunikační spoje provozovat. Dále jsou popsány digitální modulace, jelikož mají vliv na chování signálu v přítomnosti rušení. Rovněž jsou popsány možnosti vylepšení komunikačních spojů, a to včetně jejich vhodného použití a možné implementace. Je vyvinut komunikační subsystém založený na routerech MikroTik. Tento komunikační subsystém je schopen retranslace a je vybaven hardwarem potřebným pro implementaci záložního spoje založeného na LTE. Jako testovací robot je oživen robot Orpheus HOPE, který je vybaven novou řídicí deskou, firmwarem, zmíněným komunikačním subsystémem a přejmenován na Orpheus CT. Dále je vyvinut systém pro měření vlastností komunikačních spojů, který je následně ověřen během dvou experimentů. Třetí experiment se zabývá testováním funkce retranslace komunikačního subsystému. Zhodnocení experimentů ukazuje, že zmíněný měřicí systém funguje a že komunikační subsystém je vhodný pro použití v robotech servisní a záchranářské robotiky.
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