Senzorický a navigační subsystém pro mobilní robot

Abstract

The thesis deals with the design of the sensory and navigation subsystem of the mobile robot. The aim of this work is to design a system that will enable the mobile robot to run autonomously in a predefined surroundings with dynamically changing obstacles. The proposed subsystem is based on the robot analysis for which the system is designed. Next was performed an analysis of the surroundings in which will the robot moves. Subsequently, a simulation model of the robot is created with the real parameters set from the detailed 3D model. Simulation model of the surroundings is also created. The thesis also deals with the extension of the sensor subsystem, which is divided into obstacle detection and robot localization. The sensor data is further processed to calculate the current position and motion vector into the operator-specified position. The operator sets the robot parameters using a server that communicates with the robot. The system allows the robot to be controlled manually or automatically.