Model autonomního řízení v simulátoru V-REP

Abstract

This bachelor thesis deals with creation of simulator for autonomous car control in V-REP environment. The dynamic car model have been created in the V-REP simulator according to a real car model Alamak as a main part of this thesis. The visual appearance based on the real car model Alamak have been created for particular dynamic model. The line camera have been added to the car model and interface have been created to control this car model from an external application using V-REP API in C/C++. For testing purposes an application have been created to control the car model using a gamepad. An existing application for autonomous driving of the real car model have been connected to this interface. Track have been needed for test autonomous driving. Several track elements have been modeled for building track. Subsequently a script have been built which generates an appropriate track from specified string of characters.