Rízení lokomočního subsystému mobilního robotu

Abstract

This thesis focuses on the design, implementation, and testing of a control system for the locomotion subsystem of the K3P4 mobile robot, which is equipped with wheels capable of vertical rotation. This mechanical feature enables the robot to operate in several advanced driving modes, including standard Ackermann steering, double Ackermann steering, lateral movement (Crab mode), and on-the-spot turning (Zero Turn Radius). The work involves the development of a modular control architecture using the Raspberry Pi 4 platform combined with a CAN bus communication interface, as well as the implementation of algorithms that allow seamless switching between individual motion modes. An integral part of the work is the development of a data collection and visualization system that provides the operator with real-time feedback on the robot’s operational state. The control system was first validated in the CoppeliaSim simulation environment and subsequently tested on the physical robot. The results confirm the functionality, flexibility, and future expandability of the proposed system, making it suitable for the implementation of autonomous driving features.