Thesis Details

Kontinuální lokalizace mobilního robota s využitím agregace dat z více pozičních systémů

Bachelor's Thesis Student: Brhel Zdeněk Academic Year: 2019/2020 Supervisor: Rozman Jaroslav, Ing., Ph.D.
English title
Continuous Localization of a Mobile Robot Based on an Aggregation of Data from Different Positioning Systems
Language
Czech
Abstract

The main goal of this thesis is to create an application, which will receive and aggregate data from position systems (sensors) and then estimate the most likely position of the robot.The solution will be an application that will be implemented in language (C++) and will be using robot operating system (ROS). This application will perform whole process of aggregation and estimation.The Extended Kalman filter will be used for filtering noise from data.

Keywords

Localization, agregation of data from different position systems, orientation in outdoor environment, Robotic operating system, ROS, C++, odometry, sensors, IMUs, LiDARs, GPS, robot state estimation.

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade B
Date
13 July 2020
Reviewer
Luža Radim, Ing.
Committee
Zbořil František, doc. Ing., Ph.D. (DITS FIT BUT), předseda
Grégr Matěj, Ing., Ph.D. (DIFS FIT BUT), člen
Hradiš Michal, Ing., Ph.D. (DCGM FIT BUT), člen
Kekely Lukáš, Ing., Ph.D. (DCSY FIT BUT), člen
Rogalewicz Adam, doc. Mgr., Ph.D. (DITS FIT BUT), člen
Citation
BRHEL, Zdeněk. Kontinuální lokalizace mobilního robota s využitím agregace dat z více pozičních systémů. Brno, 2020. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2020-07-13. Supervised by Rozman Jaroslav. Available from: https://www.fit.vut.cz/study/thesis/23131/
BibTeX 
@bachelorsthesis{FITBT23131,
    author = "Zden\v{e}k Brhel",
    type = "Bachelor's thesis",
    title = "Kontinu\'{a}ln\'{i} lokalizace mobiln\'{i}ho robota s vyu\v{z}it\'{i}m agregace dat z v\'{i}ce pozi\v{c}n\'{i}ch syst\'{e}m\r{u}",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2020,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/23131/"
}

Theses

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