Thesis Details

Určování polohy robota na základě měření ze senzorů

Bachelor's Thesis Student: Čakloš Ondrej Academic Year: 2016/2017 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Robot Positioning Based on Sensor Measurements
Language
Czech
Abstract

The goal of this thesis is to create a program, that will be receiving measurements from robot's sensors and fuse them together. Afterwards use this data fusion of chosen sensors to estimate location of a robot. As a solution for these problems I have used my knowledge of Kalman filters, especially extended one. If messages from sensor measurements are well formulated, Kalman filter can perform fusion of measurements together with estimating the actual position of a robot. Filter can receive measurements from multiple sources and even from duplicities. The estimated states have proven themselves reasonably accurate for successful robot localization in space.

Keywords

Data fusion, Global Positioning System, Kalman filter , Extended Kalman filter, Robot localization, Navigation stack, Odometry, Probabilistic robotics, ROS

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology
Files
Status
not defended
Date
14 June 2017
Reviewer
Žák Marek, Ing.
Committee
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Burget Lukáš, doc. Ing., Ph.D. (DCGM FIT BUT), člen
Hliněná Dana, doc. RNDr., Ph.D. (DMAT FEEC BUT), člen
Matoušek Petr, doc. Ing., Ph.D., M.A. (DIFS FIT BUT), člen
Zachariášová Marcela, Ing., Ph.D. (DCSY FIT BUT), člen
Citation
ČAKLOŠ, Ondrej. Určování polohy robota na základě měření ze senzorů. Brno, 2017. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2017-06-14. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/19182/
BibTeX 
@bachelorsthesis{FITBT19182,
    author = "Ondrej \v{C}aklo\v{s}",
    type = "Bachelor's thesis",
    title = "Ur\v{c}ov\'{a}n\'{i} polohy robota na z\'{a}klad\v{e} m\v{e}\v{r}en\'{i} ze senzor\r{u}",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2017,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/19182/"
}

Theses

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