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Local Navigation for Outdoor Robot
Skácel, Martin ; Veselý, Miloš (referee) ; Žalud, Luděk (advisor)
This diploma thesis deals with complete designing and implementation of local navigation of a robot which travels according to set GPS. This work contains a study of contemporary used principles of the sensors which can be used as the components of the robot. There are sensors for measuring the surroundings of the robot and orientation of the robot in the environs. The equipment includes an instructing control unit with the ATmega8 microcontroller. This equipment collects data from the sensors and transfers them to the other systems of the robot. The following part of the thesis deals with the draft of the buses and communication protocols, which are necessary for connection between the sensors and the control unit. The I2C and RS232 buses were chosen as the most suitable. The communication protocol was borrowed from the semester project written by Bc. Michal Sitta. The main task of this control unit is reading out the data which have been measured from connected sensors. The realization of interface between the sensor bus and the major system is another core goal of the control unit. The system for a local navigation is designed with the approach which allows the widest range of extensibility. During the designing of the control unit the future possibility of insertion other sensors was taken into consideration.
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Mobile robot navigation with obstacle avoidance
Stříteský, Vladimír ; Burian, František (referee) ; Žalud, Luděk (advisor)
Thesis deals with automatic guided mobile robot focused on obstacle avoidance during ride on planned route. There are summaries of usually used obstacle detecting sensors and algorithms used for path finding. Based on this, own solution is designed. It uses waypoints changes to pass obstacle. MATLAB simulation is created for tests of new designed method. This method is implemented to real robot for real world testing. Reached goals and upgrade possibilities are summarized in bottom of thesis.
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Indoor Robot - Local Navigation
Matějka, Lukáš ; Šolc, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with the problematic of design and realization of autonomous mobile robot, specifically with the subsystem for local navigation for a robot controlled by global navigation based on self-organizing neuron map, possible chassis design and control of these designs. Obstacle detection system is designed as well as optimum direction finding algorithm. Final section of this thesis concerns the possibilities of future improvements and development.
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Indoor Robot - Sensoty Subsystem
Mlatecová, Hana ; Burian, František (referee) ; Žalud, Luděk (advisor)
This bachelor’s thesis deals with problematic of mobile robots, especially with the sensory subsystem. It provides the information of robot’s vicinity and orientation to global and local navigation. Global navigation is based on self-organizing neuron map. Document includes the analysis of situation and design of sensory subsystem for specified robot.
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Anti-crash System for Quadcopter with set of sonars
Hrazdil, Radim ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
This bachelor’s thesis is focused on installing ultrasonic sonars on a quadcopter, connecting them to the Arduino Micro microcontroller and implementing a program for controlling connected sonars. A demonstrational application using ROS framework was designed and implemented. Based on data received from sonars this application detects nearby obstacles and is able to maintain safe distance as well as slow down when getting too close to an obstacle. The design of the collision avoidance system is focused on high frequency of measurements and maximal space coverage.
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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