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Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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Mobile Robot Path Planning Simulation and Calculation.
Koch, Zdeněk ; Šorm, Milan (referee) ; Matoušek, Radomil (advisor)
This thesis deals about design and realization software application "Mobile robot studio" for planning path mobile robot in pseudo 3D world. It contains several tools, witch most important are: simulation control, path planning, world editor and commands editor for CAN. Application was made by technology .NET 2.0 and for 3D design was used Microsoft DirectX 9 API. This thesis has been supported by the Czech Ministry of Education in the frame of MSM 0021630529 Research Intention Inteligent Systems in Automation.
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3D Scanning with Proximity Planar Scanner
Chromý, Adam ; Burian, František (referee) ; Žalud, Luděk (advisor)
Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
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Control of EUROBOT Mobile Robot
Plucnar, Libor ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The thesis is focused on the theoretical development of a control algorithm for mobile robot based on Eurobot and its subsequent practical implementation according to a specific assignment. There are two main methods designed to control the robot according to the input signal, whereby the robot orientats. The first control method is using the camera. This section describes general procedure how to create the image classifier, under which it is possible to search objects. The second part describes the trajectory planning of the robot depends on its position to achieve a specific point on a predetermined map. During the proceedings are taken into account static and dynamic barriers that can occur in an environment in which the robot moves in. In the study was also designed graphical user interface.
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Path planning for semiautonomous convoy slave units
Hurban, Milan ; Růžička, Michal (referee) ; Krejsa, Jiří (advisor)
This bachelor thesis deals with the design of a trajectory planning method for semiautonomous convoy slave units. The main objective is to ensure that the unit calculates and follows a trajectory that closely matches the leading unit based mainly on image processing data from the camera. The thesis includes a MATLAB simulation of the whole convoy with manual control of the leading vehicle and an implemented path planning algorithm. The resulting code is ready to be integrated into a robust application where it will provide high-level control of each unit of the semiautonomous convoy.
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Flight path planning for drone swarms
Procházka, Martin ; Szabó, Zoltán (referee) ; Janoušek, Jiří (advisor)
This bachelor's thesis addresses the issue of planning flight paths for drone swarms with specified safety constrains and with the emphasis on the feasibility of real-world usage. Along with the design of the planning algorithm itself, this thesis also implements an add-on for the 3D environment Blender, which can be used to design a flight mission, verify safety constrains and export the mission itself.
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Model of a matting spray for 3D scanning for coating thickness prediction
Koupil, Michael ; Mendřický, Radomír (referee) ; Koutecký, Tomáš (advisor)
This master's thesis deals with the design of a method for measuring dimensional parameters of layers applied by a spray gun, followed by the design of a computational model capable of calculating the ideal trajectory dimensions to achieve the most consistent layer thickness, which can predict this thickness at any point. Another goal is to verify the functionality and quality of the simulation of the computational model through a comparative experiment. A method for measuring the thickness of the applied matting layer was proposed. Dependences of the thickness of the applied layer on the movement speed of the spray gun and the nozzle distance from the misted surface were determined. A mathematical model was designed to calculate the deposition thickness at a specific point on the trajectory, allowing for application along general trajectories. A mathematical model for simulation of the application process was proposed. The computational model allows for the choice between automatic calculation of ideal parameters and manual adjustment of custom parameters.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
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