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Differential chassis mobile robot trajectory planning
Chochel, Michael ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work speaks about a suggestion of trajectory of mobile robot with nonholonomic movement limits and differential chassis while passing through a “T“ shaped crossroad. In the theoretical part some methods generally used to solve this task of planning a trajectory of the robot will be explained. In the practical part this task will be solved by an algorithm for searching the optimal trajectory to pass through the crossroad.
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Path planning of a nonholonomic mobile robot
Šindelář, Jiří ; Dvořák, Jiří (referee) ; Krček, Petr (advisor)
This thesis deals with robot path planning by means of selected methods. Specifically by the methods RRT, IGPPR and ISSD. The theoretical part contains the overview of existing methods for path planning and description of previously mentioned methods. The practical part describes implementation of each methods which are applied to nonholonomic mobile robot working in 2D workspace with static obstacles.
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On the kinematics of wheeled mobile robots
Zoufalý, Stanislav ; Hrabec, Jakub (referee) ; Burian, František (advisor)
The bachelor thesis deals with the description of the concepts of nonholonomic mobile robots. Its aim is to get acquainted with the basic variants of structures, to build a mathematical model, to derive dynamic properties and to design a functional algorithm of a control system. The work describes the selection of suitable models, the implementation of two basic types of chassis and the selection of a suitable simulator for the implementation of models. These are types with Differential and Ackerman chassis. The thesis next describes the design of suitable control so as to meet the requirement of tracking the desired trajectory. Control algorithms and mathematical models were implemented in the MATLAB-Simulink software environment with the possibility of real 3D simulation in the Webots simulator.
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Differential chassis mobile robot trajectory planning
Chochel, Michael ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
This work speaks about a suggestion of trajectory of mobile robot with nonholonomic movement limits and differential chassis while passing through a “T“ shaped crossroad. In the theoretical part some methods generally used to solve this task of planning a trajectory of the robot will be explained. In the practical part this task will be solved by an algorithm for searching the optimal trajectory to pass through the crossroad.
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Path planning of a nonholonomic mobile robot
Šindelář, Jiří ; Dvořák, Jiří (referee) ; Krček, Petr (advisor)
This thesis deals with robot path planning by means of selected methods. Specifically by the methods RRT, IGPPR and ISSD. The theoretical part contains the overview of existing methods for path planning and description of previously mentioned methods. The practical part describes implementation of each methods which are applied to nonholonomic mobile robot working in 2D workspace with static obstacles.
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