Simulace mobilního robotu sledujícího trajektorii s překážkami

Abstract

The bachelor's thesis deals with creation of a simulation of mobile robot following a trajectory with obstacles. The first part deals with the current use of these robots, the sensors used by these robots and the algorithms used to solve individual problems. Futhermore, the research includes an analysis of the types of trajectories and comparison of the most well-known simulation software with a description of the selected software CoppeliaSim. The practical part of this thesis deals with the creation of a simulation of a mobile robot on a trajectory with obstacles. The simulation model is based on a detailed model designed in the Creo Parametric and on the real hardware components required for its operation. Furthermore, the procedure for converting the model into simulation and the creation of a control script containing algorithms for trajectory tracking, obstacle avoidance and a controller that selects the individual algorithms is described. Subsequently, the practical part discusses the creation of a trajectory and obstacle generator and ensuring the infinite loop of the given simulation. Finally, the thesis concludes with bachelor thesis summary.