Unmanned Aerial Vehicles (UAV) have been heavily studied in the past decade, where autonomous flights have been a popular subject. More complex applications have led to higher requirements on the autonomous flight algorithms and the absence of performance data complicates the selection of what algorithm to use for various applications. Therefore, this thesis focused in analyzing the performance difference between two methods, Simultaneous Localization AndMapping (SLAM) and Artificial Potential Field Approach (APFA), which are planning and reactive algorithms, respectively. Fundamental dynamics were applied, Feedback Linear Controllers (FBLC)s for stabilization and an odometry position model combined with an inverse dynamics technique that linearizes the non-linear odometry model. The SLAM approach was set up in four steps: landmark extraction which uses a point distance based method for segment separation, combined with a Split-And-Merge algorithm for extracting linear landmarks, data association that validates the landmarks, Extended Kalman Filter (EKF) that uses the landmarks together with the odometry model for estimating the position of the UAV, and a modified TangentBug as the reactive algorithm. The APFA was constructed of two functions, an attractive and a repulsive function. The two methods were implemented on the robotics simulation platform Virtual Robot Experimentation Platform (V-REP), where a quadcopter was used as the model for the UAV. All theory was implemented onto the quadcopter model and embedded scripts were used for communication within V-REP, mainly through internal Application Programming Interface (API)-functions. Furthermore, a script was written that randomly generates three different types of simulation environments. The implementation of both methods was analyzed in reaching an arbitrary goal position in terms of: the most successful, the most time efficient and the safest navigation path. Another thing analyzed was the time- and space-complexity of both implemented methods. The results stated that the implemented APFA and the SLAM approach had approximately equal success rate, SLAM had the safest navigation, was the most time efficient, and had the highest time- and space-complexity for a worst case scenario. One of the conclusions were that improvements could be done in the implementations. Future work includes adding a proper damping method, improving the flaws in the implemented methods as well as to use V-REP as a Robot Operating System (ROS)-node for creating a Software In The Loop (SITL)-simulation, in order to achieve more realistic simulations.

The diploma thesis deals with HIL simulation (hardware in the loop). The thesis contains a manipulator created in the virtual software V-REP. The connection of real inputs and virtual outputs of the machine is realized by the microcontroller Arduino UNO. The first task deals with the control of the manipulator using the joystick PS2. The second task is a separate control of the robot using an microcontroller Arduino UNO. The resulting connection can be modified in the furher and the interface modified. The work will be used for educational purposes.

This theasis deals with modeling dynamics and visualization of experimental vehicle CAR4 in software V-REP. The first part shows introduction with V-REP and its possibilities for usage in simulations. The second part presents modelling of CAR4 vehicle and its control by using software V-REP and Matlab. In last part are models of vehicle tested in simulation

Tato diplomová práce se zabývá popisem řiditelnosti specifického robotického hada, který se nazývá trident snake robot. Tento robot je řazen mezi neholonomní systémy. Model je převeden do jazyka diferenciální geometrie a řízen pomocí vektorových polí a operace na nich zavedené (Lieova závorka). Je také uvažována aproximace řídicí distribuce. Dále jsou formulovány pohyby hada ve směru vektorových polí a jejich kombinace, které zajišťují základní pohyby v prostoru (rotace a translace). Tyto pohyby jsou na závěr simulovány v prostředí V-REP.

Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.

Tato práce se zabývá simulacemi neholonomních mechanismů, konkrétně robotických hadů. V práci jsou uvedeny základní poznatky geometrické teorie řízení. Tyto poznatky jsou využity k odvození řídících modelů robotických systémů a následně jsou tyto modely simulovány v prostředí V-REP.

The aim of this master thesis is to make research of Open Source software, which are used for simulation autonomous robots. At the begining is performed research of selected robotic simulators. In the first part of this work is to get familiar with robotic simulator Gazebo and robotic framework ROS. The second part of this work deals with simulating and subsequent implementation of choosen robotic tasks through the simulator Gazebo and the ROS framework.