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Docking Station for Automatic Charging of Batteries of Robot
Beran, Jan ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The aim of this thesis is to create a functional docking and charging system for the Trilobot robot, which is improved and modified for use in future projects as a part of this thesis. The theoretical part discusses the path planning methods, battery types and charging methods, types of docking stations and the charging method itself. Also, a robot refurbishment design is presented, which is then implemented, along with the docking station. The refurbished robot has functional control software in the ROS framework, which allows it to perform not only the task of autonomous battery charging. In this thesis, a test of the whole system is also performed and the results are evaluated.
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PLC Control of Mobile Robotics Platform
Konečný, Michael ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
The aim of this master's thesis was to create a design for a prototype of a mobile robotic platform and its physical fabrication. Another goal of this master's thesis was to develop a control algorithm and its implementation into a prototype. In addition, the thesis was extended by an autonomous motion mode, an algorithm for robot path planning, and the design of the Human Machine Interface (HMI). The introduction contains a description of some already created mobile robotic platforms, a presentation of the company B&R and the theory needed to understand omnidirectional mobility. The next chapters describe the design and construction of a prototype with a selection of electronic components and their wiring, implementation of an algorithm for robot path planning, implementation of a control algorithm and design, together with the implementation of the user environment. At the end of this master's thesis, the possibilities of extending the project to future years are described.
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Robot navigation by means of graph-based algorithms
Čížek, Lubomír ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This thesis deals with robot path planning by means of graph-based algorithms. The theoretical part contains basic approaches to robot path planning, and pay closer look at various methods of graph-based algorithms. In the second part of this thesis a simulation environment for robot navigation was created in C#. And in this environment chosen methods of graph-based algorithms have been implemented. This thesis was written within the research project MSM 0021630529: Intelligent systems in automation.
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Robot path planning by means of swarm intelligence
Schimitzek, Aleš ; Krček, Petr (referee) ; Dvořák, Jiří (advisor)
This diploma thesis deals with the path planning by swarm intelligence. In the theoretical part it describes the best known methods of swarm intelligence (Ant Colony Optimization, Bee Swarm Optimization, Firefly Swarm Optimization and Particle Swarm Optimization) and their application for path planning. In the practical part particle swarm optimization is selected for the design and implementation of path planning in the C#.
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Path Planning using Voronoi Graphs
Živčák, Adam ; Uhlíř, Václav (referee) ; Rozman, Jaroslav (advisor)
The main purpose of this bachelor thesis is to design and implement plugin for robot operating system, which will be used for path planning using Voronoi graphs. Path planning is executed in well known world, about which robot knows where obstacles are placed. Thesis contains overview of main concepts of robot operating system, description of Voronoi graphs and algorithms to construct them. In conclusion is placed comparison of implemented plugin for path planning with ROS integrated planners.
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Path Planning for Robot Formations
Hornáček, Zdenko ; Uhlíř, Václav (referee) ; Rozman, Jaroslav (advisor)
Robotics has been experiencing great development in recent years. This development is due to constant technical progress and the effort to develop increasingly robust robots and to further develop co-operating groups of robots. These co-operating groups (robot formations) have many areas of use ranging from environmental mapping to search and rescue missions. This bachelor thesis deals with the design of the path planning algorithm for robot formations. It uses the already existing planning algorithm for single robot - the Dijkstra algorithm. Based on the path computed by this algorithm, the proposed algorithm will calculate the path for each robot so as to maintain the shape of the formation during its move to the goal.
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Robot Path Planning (RRT)
Knispel, Lukáš ; Matoušek, Radomil (advisor)
This thesis deals with path plannig of omnidirectional mobile robot using the RRT algorithm (Rapidly-exploring Random Tree). Theoretical part also describes basic algorithms of path planning and presents closer view on RRT and its potential. Practical part deals with designing and creation of C++ linux application in Ubuntu 9.10 environment with Qt 4.6 application framework, which implements advanced RRT algorithm with user-programmable solver and batch mode in order to test efectivity of solver on given tasks.
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Mobile robot path planning
Klobušníková, Zuzana ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This master thesis deals with the planning of the robot's path using selected graph algorithms of artificial intelligence. The theoretical part describes the basic methods of planning a robot's path. It is related to the graph algorithm more closely. The practical part deals with implementation of selected graph algorithms, creation of simulation environment in Python, description and evaluation of experiments.
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The Shortest Graph's Pahts Finding
Jágr, Petr ; Ohlídal, Miloš (referee) ; Jaroš, Jiří (advisor)
The aim of this thesis is finding, comparing and implementation of algorithms for finding the shortest paths between each of pairs of nodes in a graph. For this task I use modifications of existing algorithms to achive the lowest time consumption of the computation. Modifications are established on Dijkstra's and Floyd-Warshall's algorithm. We also familiarize with Bellman-Ford algorithm.
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