Thesis Details

Lokalizace pozemního robota ve vnitřním prostředí

Bachelor's Thesis Student: Sýkora Tomáš Academic Year: 2016/2017 Supervisor: Beran Vítězslav, doc. Ing., Ph.D.
English title
Mobile Robot Localization in Indoor Scenarios
Language
Czech
Abstract

The goal of this project was to create a software for an autonomous mobile robot capable of navigation in indoor scenarios and of detection and recognition of the objects on its way. An important condition that the final software had to meet was to find the cheapest solution possible. I achieved the given goal and its conditions using an open source software framework Robotic Operating System (ROS) and its tools. The final system is a set of ROS modules communicating with each other, using a single sensor as an input data stream and a small motor which is able to send information about its velocity and rotations to the control part of the system. This mobile robot can, without any significant problems, navigate through a mapped area while trying to find trained objects. Such a robot could be easily used (after adding specific mechanical parts) to help retired or disabled people, to cooperate with industry workers or in many other fields.

Keywords

robot navigation, robot localization, objects detection, objects seeking, ROS

Department
Department of Computer Graphics and Multimedia FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade B
Date
12 June 2017
Reviewer
Brejcha Jan, Ing., Ph.D.
Committee
Herout Adam, prof. Ing., Ph.D. (DCGM FIT BUT), předseda
Češka Milan, doc. RNDr., Ph.D. (DITS FIT BUT), člen
Drábek Vladimír, doc. Ing., CSc. (DCSY FIT BUT), člen
Hliněná Dana, doc. RNDr., Ph.D. (DMAT FEEC BUT), člen
Rychlý Marek, RNDr., Ph.D. (DIFS FIT BUT), člen
Citation
SÝKORA, Tomáš. Lokalizace pozemního robota ve vnitřním prostředí. Brno, 2017. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2017-06-12. Supervised by Beran Vítězslav. Available from: https://www.fit.vut.cz/study/thesis/16252/
BibTeX 
@bachelorsthesis{FITBT16252,
    author = "Tom\'{a}\v{s} S\'{y}kora",
    type = "Bachelor's thesis",
    title = "Lokalizace pozemn\'{i}ho robota ve vnit\v{r}n\'{i}m prost\v{r}ed\'{i}",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2017,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/16252/"
}

Theses

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