Thesis Details

Ovládání robota s Ackermannovým podvozkem

Master's Thesis Student: Fryč Martin Academic Year: 2016/2017 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Controlling of Robot with Ackermann Steering
Language
Czech
Abstract

In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

Keywords

Ackermann, Ackermann steering, Ackermann steering geometry, Robot operating system,ROS, Robot, Robotic car, RC car, PixHawk, Raspberry Pi, Odometry, Navigation stack

Department
Degree Programme
Information Technology, Field of Study Intelligent Systems
Files
Status
defended, grade B
Date
19 June 2017
Reviewer
Committee
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Čadík Martin, doc. Ing., Ph.D. (DCGM FIT BUT), člen
Češka Milan, doc. RNDr., Ph.D. (DITS FIT BUT), člen
Orság Filip, Ing., Ph.D. (DITS FIT BUT), člen
Rozman Jaroslav, Ing., Ph.D. (DITS FIT BUT), člen
Šimko Marián, doc. Ing., Ph.D. (FIIT STU), člen
Citation
FRYČ, Martin. Ovládání robota s Ackermannovým podvozkem. Brno, 2017. Master's Thesis. Brno University of Technology, Faculty of Information Technology. 2017-06-19. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/19935/
BibTeX
@mastersthesis{FITMT19935,
    author = "Martin Fry\v{c}",
    type = "Master's thesis",
    title = "Ovl\'{a}d\'{a}n\'{i} robota s Ackermannov\'{y}m podvozkem",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2017,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/19935/"
}
Back to top