Hlavní řídicí jednotka pro mobilní robotické zařízení

Abstract

This thesis deals with the management of a mobile robotic device serving as a reconnaissance vehicle. Proceedings provides a distributed control system. The work focuses on design and implementation of the main control unit of the system. The main control unit includes algorithms for control of the vehicle, trajectory design algorithms for vehicle orientation in the vector map, communication with sub-modules and the remote device and contributes to area monitoring. The control unit is realized on the development board with a powerful i.MX31 processor with operating system Timesys Linux and the program is written in C++.