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Start Over Creator Věchet, Stanislav

1. Dealing with sensor errors in scan matching for simultaneous localization and mapping

Creator:
Krejsa, Jiří and Věchet, Stanislav
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
localization, mobile robotics, and SLAM
Language:
English
Description:
The paper presents Potential-Based Scan Matching (PSCM) method used for simultaneous localization and mapping of mobile robot in unknown environment. The method is based on matching two proximity sensor scans from different robot locations. The resistance of the method against errors in sensor readings is investigated using both general sensor error model and error model for LMS 200 laser scanner. The method proved to be highly resistent for the noise levels exceeding the commonly used instruments.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2. Hydraulic arm modeling via Matlab SimHydraulics

Creator:
Věchet, Stanislav and Krejsa, Jiří
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
simulation modeling, hydraulics, SimHydraulics, SimMechanics, and Matlab
Language:
English
Description:
System modeling is a vital tool for cost reduction and design process speed up in most engineering fields. The paper is focused on modeling of hydraulic arm as a part of intelligent prosthesis project, in the form of 2DOF open kinematic chain. The arm model combines mechanical, hydraulic and electric subsystems and uses Matlab as modeling tool. SimMechanics Matlab extension is used for mechanical part modeling, SimHydraulics toolbox is used for modeling of hydraulic circuit used for actuating corresponding mechanical components. Interconnection between the subsystems is essential issue, as it is surprisingly not a straightforward task in Matlab/Simulink, despite the fact that each toolbox works well if used in stand alone mode. The model is verrified with the physical model of hydraulic arm actuated by micro electro-hydraulic components. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

3. Presentation robot Advee

Creator:
Krejsa, Jiří, Věchet, Stanislav, Hrbáček, Jan, Ripel, Tomáš, Ondroušek, Vít, Hrbáček, Radek, and Schreiber, Petr
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
mobile robot, human-robot interface, localization, and motion planning
Language:
English
Description:
The paper gives detailed overview of the prototype of autonomous mobile robot Advee, developed for presentation purposes. Mechanical, electrical, sensor and software subsystems are described in the paper together with key algorithms such as localization and motion planning. Advee already performed over 600 hours of operation among common people, the experiences gained from the operation are also summarized in the paper. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

4. Rapidly exploring random trees used for mobile robots path planning

Creator:
Krejsa, Jiří and Věchet, Stanislav
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
path planning, mobile robots, rapidly exploring random trees, and navigation
Language:
English
Description:
Path planning problem in mobile robotics can be solved in several ways. Often used are probabilistic roadmaps and potential field algorithm. However, adding nonholonomic constraints into part planning algorithm can be difficult for those methods. Therefore the rapidly exploring random trees (RRT) algorithm was examined and paper illustrates its usability in path planning task for both legged (walking) and wheeled mobile robots. The method proved to be capable of coping with limiting constraints and at the same time it is very fast, enabling its use in real time path recalculation when used with localization algorithm. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public