National Repository of Grey Literature 42 records found  1 - 10nextend  jump to record: Search took 0.01 seconds. 
Path Planning for Autonomous Agricultural Machines
Chripková, Martina ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
This thesis presents the design of a coverage path planning algorithm for autonomous agricultural machines. The main goal of this work was to design an algorithm that can minimize the route. As a result, it saves time and costs associated with the management of agricultural land. Algorithm also takes care of the needs of soil protection against erosion.
Mathematical description of vehicle motion trajectory
Lorenczyk, Jiří ; Popela, Pavel (referee) ; Porteš, Petr (advisor)
The goal of this thesis is to nd types of curves which would allow for the construction of a path that could be traversed by a vehicle. It seems that a minimal constraint for such a path is the continuity of curve's curvature. This leads to a closer look at the three types of curves: Clothoids, which are able to smoothly connect straights with arcs of a constant curvature, interpolation quintic splines, which are C2 smooth in the interpolation nodes and -splines, these belong to the family of quintic polynomial curves too, however, they are characterised by the vector of parameters which modies the shape of the curve. The thesis is accompanied by an application allowing for manual construction of the path composed of spline curves.
Path Planning for Autonomous Vacuum Cleaners
Hranický, Jan ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
Complete coverage path planning is a task of finding such path that passes over all points in given area at least once. This thesis applies complete coverage path planning to autonomous vacuum cleaner robots. Thesis summarises current deal of autonomous vacuum cleaner robots. But mainly it focuses on describing complete coverage algorithms. Selected algorithms are implemented using Java vizlib library.
Multirobot Path Planning in a Dynamic System
Plachý, Dominik ; Uhlíř, Václav (referee) ; Zbořil, František (advisor)
This thesis deals with the design of a path planning algorithm for a multi-robot system in order to cover a dynamic environment.     The coverage problem is solved by dividing the space into equal sized areas, of which there are at least as many as the number of agents covering the space. The agents divide the areas among themselves and resolve any collisions that occur. They are also able to react by changing their plan when they encounter an obstacle.    The thesis contains measured and commented data from running the algorithm for different parameters of the environment dynamics. The result of the work is an algorithm whose efficiency increases directly proportional to the number of agents.
Real Time Melfa Controlling Using ROS
Liška, Jakub ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The goal of this bachelor thesis is to explore the possibilities of controlling the industrial robotic arm Mitsubishi Melfa RV-6SL using ROS (Robot Operating System) and the subsequent implementation of this knowledge into a functional application. This work describes to the reader not only the theoretical foundations of the work, but also how to create the configuration packages needed to simulate the robotic arm in the simulation environment Gazebo, as well as real-time control of the real robotic arm. The text also describes path planning using the MoveIt library, based on poses of robotic arm selected in the Rviz visualization environment.
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
Path planning for multiple robots
Sekáč, Ondřej ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This master thesis deals with path planning for multiple mobile robots. The theoretical part describes robot navigation -- mapping and path planning. Selected methods of artificial intelligence used in multi-robot path planning are described. In practical part simulator is implemented, in which selected algorithms were compared using experiments.
Advanced methods of mobile robot path planning
Maňáková, Lenka ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
This work is focused on advanced methods of mobile robot's path planning. The theoretical part describes selected graphical methods, which are useful for speeding up the process of finding the shortest paths, for example through reduction of explored nodes of the state space. In the practical part was created simulate environment in the Python language and in this environment, selected algorithms was implemented.
Path planning in uncertain environment by means of AO* algorithm
Foukal, Jakub ; Šoustek, Petr (referee) ; Dvořák, Jiří (advisor)
Master thesis is dedicated to path planning in uncertain environment focusing on AO* methods. In practical part it focuses on designing and implementation of own solving method for searching And/Or graph. To perform comparative experiments it was created a simulation program, which allows to test implemented algorithms.
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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