Thesis Details

Robot řízený mikroprocesorovou jednotkou PIC

Master's Thesis Student: Heřman Petr Academic Year: 2014/2015 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Robot Controlled by PIC Microprocessor Unit
Language
Czech
Abstract

This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.

Keywords

PIC microcontroller, robot, feedback control system, PID controller, sensors, acclerometer, compass, gyroscope, Hall effect sensor, encoder, sonar, low-level control, high-level control, ROS, remote control

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology, Field of Study Intelligent Systems
Files
Status
defended, grade A
Date
23 June 2015
Reviewer
Luža Radim, Ing.
Committee
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Bartík Vladimír, Ing., Ph.D. (DIFS FIT BUT), člen
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Hrubý Martin, Ing., Ph.D. (DITS FIT BUT), člen
Meduna Alexander, prof. RNDr., CSc. (DIFS FIT BUT), člen
Steingartner William, Ing., Ph.D. (TUKE), člen
Citation
HEŘMAN, Petr. Robot řízený mikroprocesorovou jednotkou PIC. Brno, 2015. Master's Thesis. Brno University of Technology, Faculty of Information Technology. 2015-06-23. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/17912/
BibTeX 
@mastersthesis{FITMT17912,
    author = "Petr He\v{r}man",
    type = "Master's thesis",
    title = "Robot \v{r}\'{i}zen\'{y} mikroprocesorovou jednotkou PIC",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2015,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/17912/"
}

Theses

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