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Design of quadcopter contol sytem with visual guidance
Pokorný, Ondřej ; Věchet, Stanislav (referee) ; Andrš, Ondřej (advisor)
Tato práce pojednává o návrhu a implementaci systému řízení kvadrokoptéry s vizuálním naváděním k vytištěné značce. Systém se skládá výhradně z komerčně dostupného hardwaru a open source nebo uživatelského softwaru. Jednotkami jsou například mikropočítač Raspberry Pi 3 Model B, mikrokontrolér Arduino Nano, letový kontrolér Omnibus F3 atd. V první části je nastíněna struktura navrhnutého systému a popsány vlastnosti a funkce jednotlivých komponent. Následuje přehled použitých druhů komunikací a jejich verzí specifických pro létající platformy. Nakonec je popsána architektura uživatelského softwaru společně s fungováním jednotlivých částí a důvody pro jejich přítomnost v kódu. Druhá část se zaměřuje na použití knihovny pro augmentovanou realitu ArUco za účelem odhadování polohy, dále se zaměřuje na opatření zavedená pro kompenzaci nedostatků spjatých s použitím tohoto systému. Tato část také obsahuje popis vývoje řídícího algoritmu a následného testování implementovaného řešení. Na závěr jsou navženy možné další kroky ve vývoji.
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Flight Characteristics Control System for Autonomous Drone
Červenka, Ondřej ; Strnadel, Josef (referee) ; Šimek, Václav (advisor)
The goal of the bachelor thesis is to build a drone and implementation of safety measures in case of RC signal loss and also stabilizing the drone in the air using GPS and other available sensors. The thesis describes on history and development of the drones, their construction, components and parts of which it consists. Practical aspect focuses on building the drone, implementation of code for autonomous behaviour and testing of the final product.
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Mathematical Model of Quadcopter
Gajdošík, Martin ; Veigend, Petr (referee) ; Rozman, Jaroslav (advisor)
The aim of the bachelor thesis is to create a mathematical model of a quadcopter and its subsequent simulation in MATLAB and Simulink environment. It will also deal with a design and implementation of an autonomous control system with which we will perform flight tests in two flight configurations. These configurations will be with one or two engines in front of vehicle. We will also look at the computational complexity of this model and the possibilities of further expansion.
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Stability Control of Quadrocopter
Nejedlý, Jakub ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This work deals with physical laws affecting behavior of a quadcopter as a mobile robot. It describes methods of controlling movements and stability. The result of the theoretical analysis is creation of simulation model. Moreover it depicts practical software developement of a real machine controller unit with its own conclusion, comparison between simulation and practical experiments and the workflow of the physical system construction.
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Quadcopter Camera Utilization for Scene Context Monitoring in Outdoor Environment
Běl, Petr ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor thesis deals with design and implementation of user interface for quadcopter control by mobile device. Most important design aspect is ability to scene monitoring by camera carried by quadcopter. Selected criterion was solved by control gestures drawn on device display, thus deletion of unnecessary graphical control elements. Comfort for scene monitoring is ensured by multiple ight modes using same set of gestures. For purpose of connecting robot with mobile device in this work has been chosen platform Robot Operating System. Its transfer to mobile device was implemented by RosJava library for the selected operating system Android. Main contribution of this thesis is creation of mobile application which allows to pilot quadcopter and watch transmitted image from its camera not being disturbed by control elements. This advantage is most important for devices with smaller displays like smartphones.
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Controller for quadrocopter
Tilgner, Martin ; Kříž, Vlastimil (referee) ; Burian, František (advisor)
This thesis deals with design and creation of control board for the type of drone quadrotor. The aim of this work is to design create a control unit capable of drone stabilization and communication with superior system. It is assumed that there will be used open source firmware for quadcopter controlling. The work is divided into five parts. The first one deals with the quadrocopter flight principle and creation simple physical model of the quadrocopter. The second part deals with electrical motors for small flying machines and the suitable operating electronics. The third part deals with sensors necessary for flight stabilization and their selection. The fourth part deals with design and creation of PCB control board for the quadrocopter and the fifth part deals with the operating software.
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Quadrocopter realization
Pekarovič, Ján ; Galetka, Josef (referee) ; Götthans, Tomáš (advisor)
This thesis deals with the design of a helicopter with four rotors known as quadcopter. It describes the principles of operation and existing modifications. Part of the work is the selection of a suitable frame, remote control set, engines and propellers, battery, sensors for stabilization and detection of obstacles and microcontroller for their operation. The paper presents the concept of the specific copter design, design and simulation of printed circuit boards to their self-production, activation and testing. The final part of the thesis includes an economic assessment of the project and its comparison with competitors.
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Production of designed quadracopter using rapid prototyping
Melša, Jan ; Fiala, Zdeněk (referee) ; Zemčík, Oskar (advisor)
Design and manufacturing of a quadrocopter prototype using the Rapid Prototyping additive technology – the Fused Deposition Modeling method – is the goal of this Bachelor’s Thesis. The Thesis describes the process the prototype has to go through from the 3D computer model, through production settings down to the production itself. The individual prototype models have been created using the Creo Parametric software and they are adapted to the real components of a functional quadrocopter. The Thesis ends with a technical-economic assessment.
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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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