Navigační subsystém mobilního robotu K3P4

Abstract

The master’s thesis deals with the design of the navigation subsystem algorithm. Firstly, an analysis of the current state of the art was carried out, in which the reasons for the creation of the K3P4 robot and the competitions in which the RoverOva team regularly qualifies with the robot were discussed. Individual tasks at competitions requiring the use of autonomous driving of the robot are described. The review continues to focus on selected navigation models. The localization options used in the competitions and mapping capabilities are then described. Based on the research, a requirement sheet is created. This is followed by a description of the proposed navigation algorithm and the algorithms themselves are described. The next chapter focuses on the simulation of the system and tests the driving of the digital twin robot in three map environments. A block diagram of the proposed algorithm has been created and is included in the appendix.