Mobile Robot Motion Planning in Shopfloor
Plánování pohybu mobilního robotu v průmyslovém prostředí
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České vysoké učení technické v Praze
Czech Technical University in Prague
Czech Technical University in Prague
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Hlavným cieľom bakalárskej práce bolo navrhnúť a skonštruovať roadmapu, po ktorej by sa mobilný robot dokázal bezkolízne pohybovať. Roadmapu sme reprezentovali ako orientovaný graf. V závere práce sme sa venovali priradeniu smerov cestám vo vytvorenej roadmape. Matematická morfológia a spracovanie obrazu boli základom konštrukcie roadmapy. Práca obsahuje návrh a konštrukciu roadmapy, popis algoritmov a ich následnú implementáciu a experimentálne výsledky, ktoré dokazujú funkčnosť celkového návrhu.
The main goal of bachelor thesis was to design and construct a roadmap, on which a mobile robot would be able to move without collision. Roadmap was represented as an oriented graph. At the end of the thesis we focused on assigning directions to roads in constructed roadmap. The basic of a roadmap construction was a mathematical morphology and image processing. The thesis consists of a design and construction of a roadmap, algorithm description and its implementation and experimental results. Experimental results prove funcionality of the overall design.
The main goal of bachelor thesis was to design and construct a roadmap, on which a mobile robot would be able to move without collision. Roadmap was represented as an oriented graph. At the end of the thesis we focused on assigning directions to roads in constructed roadmap. The basic of a roadmap construction was a mathematical morphology and image processing. The thesis consists of a design and construction of a roadmap, algorithm description and its implementation and experimental results. Experimental results prove funcionality of the overall design.