Systémy pohonu a energie pro mobilní robotické zařízení

Abstract

This thesis deals with design solutions to drive and power management of mobile robotic device. Mobile robotic device serves as a reconnaissance vehicle for the exploration of life-threatening areas. Its task is to reach a predetermined destination and avoid obstacles without human intervention during the journey. It also analyzed issues related to the choice of drive and discrete controller, but also the selection and distribution of battery power for onboard electronics. In view of the concept of using distributed control is part of the work focused on the description of communications and communication protocols. Then use the appropriate real time operating system. In this thesis we discuss how the overall hardware solutions as well as software solutions, using real-time operating system with the implementation of communication and control algorithms.