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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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Probabilistic Localization of Mobile Robot
Kopečný, Tomáš ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
Motion control, navigation and sense of orientation of a mobile robot are tied to development of every mobile robot. This work concerns mainly about robot localization in the sense of orientation in space. Nevertheless, nor other aspects of mobile robotics are being omitted. Therefore, the goal of this work is to get familiar with Monte Carlo localization algorithm and apply this algorithm on a real robot.
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Design and realization of odometry sensors for mobile robot with Ackermann steering
Porteš, Petr ; Věchet, Stanislav (referee) ; Hrbáček, Jan (advisor)
Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.
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The Trilobot Model
Štěpán, Miroslav ; Janoušek, Vladimír (referee) ; Hrubý, Martin (advisor)
This MSc Thesis describes creation of motion model of mobile robot called Trilobot. This model is implemented into simple simulation tool. Some laboratory experiments with the robot are described in this paper. There is also some information about SmallDEVS tool and Squeak Smalltalk environment in which the model was implemented. Motivation of this work is effort to simplify the design and testing of navigation algorithms for Trilobot, which is available for students of FIT BUT in the robotics lab of department of intelligent systems. This simple simulation tool could partially reduce dependence on physical availability of this robot.
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Methods for Simultaneous Self-localization and Mapping for Depht Cameras
Ligocki, Adam ; Jelínek, Aleš (referee) ; Žalud, Luděk (advisor)
Tato diplomová práce se zabývá tvorbou fúze pozičních dat z existující realtimové im- plementace vizuálního SLAMu a kolové odometrie. Výsledkem spojení dat je potlačení nežádoucích chyb u každé ze zmíněných metod měření, díky čemuž je možné vytvořit přesnější 3D model zkoumaného prostředí. Práce nejprve uvádí teorií potřebnou pro zvládnutí problematiky 3D SLAMu. Dále popisuje vlastnosti použitého open source SLAM projektu a jeho jednotlivé softwarové úpravy. Následně popisuje principy spo- jení pozičních informací získaných vizuálními a odometrickými snímači, dále uvádí popis diferenciálního podvozku, který byl použit pro tvorbu kolové odometrie. Na závěr práce shrnuje výsledky dosažené datovou fúzí a srovnává je s původní přesností vizuálního SLAMu.
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Mobile Robot Navigation
Goldmann, Tomáš ; Luža, Radim (referee) ; Orság, Filip (advisor)
When we look at the eld of robotics we nd that exist a lot of types of robots. Some of tham use location navigation and global navigation for their work. This work aims to map options of location navigation and description of basic technique which used. Especially, we will deal with algorithms which work with optical sensors, for example camera, stereocamera or laser which scan medium. Practise section this work is focused on the proposal and implementacion algorithm which working with local navigation for robot's return to the starting position. All this work is connecting with tracked robot which formed in the framework one of project realization at Faculty of information technology.
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Robot Localization Using OpenStreet Map
Rajnoch, Zdeněk ; Veľas, Martin (referee) ; Rozman, Jaroslav (advisor)
Goal of this thesis is localization of mobile robot in OpenStreet map segment. Robot IMU, odometry and compass sensors are used for trajectory reconstruction, which is compared to reference GPS trajectory. Extended Monte Carlo localization and clusterization are used for robot localization. Software is implemented in C++ with ROS middleware.
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Controlling of Robot with Ackermann Steering
Fryč, Martin ; Žák, Marek (referee) ; Rozman, Jaroslav (advisor)
In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.
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