{"id":161,"date":"2013-09-06T15:45:24","date_gmt":"2013-09-06T15:45:24","guid":{"rendered":"http:\/\/localhost\/wordpress\/?p=161"},"modified":"2013-09-19T17:33:35","modified_gmt":"2013-09-19T15:33:35","slug":"roboauto","status":"publish","type":"post","link":"https:\/\/www.rcesystems.cz\/cs\/articles\/roboauto\/","title":{"rendered":"Roboauto"},"content":{"rendered":"<p><\/p>\n<p style=\"text-align: justify;\">\nRoboAuto je projektem skupiny odborn\u00edk\u016f a&nbsp;akademick\u00fdch pracovn\u00edk\u016f v oblasti sw v\u00fdvoje a um\u011bl\u00e9 inteligence se z\u00e1jmem o technologie automatick\u00e9ho \u0159\u00edzen\u00ed automobilu. C\u00edlem je vytvo\u0159en\u00ed provozuschopn\u00e9 verze modelu automobilu s pln\u00fdm \u0159\u00edzen\u00edm pomoc\u00ed po\u010d\u00edta\u010de.\n<\/p>\n<p><!--more--><\/p>\n<p style=\"text-align: justify;\">\nRobot Quido byl vyvinut t\u00fdmem v\u00fdzkumn\u00edk\u016f z Fakulty informa\u010dn\u00edch technologi\u00ed Vysok\u00e9ho u\u010den\u00ed technick\u00e9ho v Brn\u011b v r\u00e1mci projektu Roboauto (viz <a title=\"roboauto.cz\" href=\"http:\/\/www.roboauto.cz\" target=\"_blank\">roboauto.cz<\/a>). Hlavn\u00edm p\u0159\u00ednosem naviga\u010dn\u00ed architektury robota je my\u0161lenka spojit relativn\u011b jednoduch\u00e9 p\u0159\u00edstupy pro \u0159e\u0161en\u00ed d\u00edl\u010d\u00edch probl\u00e9m\u016f jako je detekce cesty, rozpozn\u00e1n\u00ed p\u0159ek\u00e1\u017eek, lokalizace, pl\u00e1nov\u00e1n\u00ed atd. takov\u00fdm zp\u016fsobem, aby robustnost cel\u00e9ho syst\u00e9mu \u0159e\u0161\u00edc\u00ed netrivi\u00e1ln\u00ed \u00falohu autonomn\u00edho \u0159\u00edzen\u00ed nebyla striktn\u011b determinov\u00e1na nejslab\u0161\u00edm \u010dl\u00e1nkem. Za t\u00edmto \u00fa\u010delem byly vyvinuty nov\u00e9 metody detekce cesty a k\u0159i\u017eovatek v intern\u00edm modelu okoln\u00edho prost\u0159ed\u00ed zalo\u017een\u00e9m na m\u0159\u00ed\u017ece obsazenosti. \u00dasp\u011b\u0161nost a kvalitu vznikl\u00e9ho \u0159e\u0161en\u00ed odr\u00e1\u017eej\u00ed vynikaj\u00edc\u00ed v\u00fdsledky v cel\u00e9 \u0159ad\u011b n\u00e1rodn\u00edch i mezin\u00e1rodn\u00edch sout\u011b\u017e\u00ed, nap\u0159\u00edklad Robot Sick Day (2011), Robotour (2009, 2010, 2011, 2012) a RoRo (2010, 2011, 2013).<\/p>\n<p><iframe loading=\"lazy\" width=\"940\" height=\"529\" src=\"http:\/\/www.youtube.com\/embed\/vWhIL_3pC7A?feature=oembed\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n<p style=\"text-align: justify;\"> Robot Quido je postaven na upraven\u00e9m elektricky poh\u00e1n\u011bn\u00e9m RC-modelu vozidla s Ackermannov\u00fdm \u0159\u00edzen\u00edm CEN Racing Matrix5 (750x320x450 mm). Podvozek byl dopln\u011bn o nosnou konstrukci z hlin\u00edkov\u00fdch profil\u016f pro uchycen\u00ed v\u011bt\u0161iny senzor\u016f. Celkov\u00e1 v\u00e1ha modelu dosahuje t\u00e9m\u011b\u0159 35 kg. Model je osazen t\u0159\u00edos\u00fdm inerci\u00e1ln\u00edm senzorem ADIS16355 pro kontinu\u00e1ln\u00ed lokalizaci. \u00dahel nato\u010den\u00ed robota je z\u00edsk\u00e1n pomoc\u00ed kompasu CMPS03. V glob\u00e1ln\u00ed lokalizace je uplatn\u011bn GPS p\u0159ij\u00edma\u010d GlobalSat BR-355. Data ze t\u0159\u00ed laserov\u00fdch d\u00e1lkom\u011br\u016f LMS 100\/111 slou\u017e\u00ed pro detekci sj\u00edzdn\u00e9ho povrchu a p\u0159ek\u00e1\u017eek p\u0159ed robotem. Mo\u017en\u00e9 kolizi p\u0159i reversn\u00edm pohybu zabra\u0148uj\u00ed dva ultrazvuky SRF 08 v zadn\u00ed \u010d\u00e1sti robota. Hlavn\u00ed v\u00fdpo\u010detn\u00ed syst\u00e9m robota sest\u00e1v\u00e1 z \u0161esti-j\u00e1drov\u00e9ho AMD procesoru Phenom II, 4GB RAM a 64 GB SSD diskem. <\/p>\n<p><a href=\"http:\/\/www.rcesystems.cz\/wp-content\/uploads\/2013\/09\/roboauto_quido.png\"><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter size-large wp-image-162\" alt=\"roboauto_quido\" src=\"http:\/\/www.rcesystems.cz\/wp-content\/uploads\/2013\/09\/roboauto_quido-1024x364.png\" width=\"940\" height=\"250\" \/><\/a><\/p>\n<p style=\"text-align: justify;\">Autonomn\u00ed \u0159\u00edzen\u00ed mus\u00ed b\u00fdt spolehliv\u00e9, robustn\u00ed a mus\u00ed b\u011b\u017eet v re\u00e1ln\u00e9m \u010dase. Naviga\u010dn\u00ed syst\u00e9m spl\u0148uje tyto po\u017eadavky pomoc\u00ed modul\u00e1rn\u00ed architektury. Ve\u0161ker\u00e9 v\u00fdpo\u010dty nad daty prob\u00edhaj\u00ed paraleln\u011b, proto komunikace mezi d\u00edl\u010d\u00edmi moduly na r\u016fzn\u00fdch \u00farovn\u00edch je \u0159azen\u00e1 a ukl\u00e1dan\u00e1 do vyrovn\u00e1vac\u00edch pam\u011bt\u00ed. Vstupn\u00ed data ze senzor\u016f jsou transformov\u00e1na do intern\u00edch model\u016f, pl\u00e1n\u016f a nakonec do konkr\u00e9tn\u00edch pohybov\u00fdch akc\u00ed. Naviga\u010dn\u00ed syst\u00e9m nem\u00e1 \u017e\u00e1dn\u00fd centralizovan\u00fd arbiter. Ka\u017ed\u00fd modul m\u016f\u017ee b\u011b\u017eet jako samostatn\u00fd proces\/program, a to na r\u016fzn\u00fdch v\u00fdpo\u010detn\u00edch platform\u00e1ch. Komunikace je zaji\u0161t\u011bna pomoc\u00ed TCP\/IP protokolu. Z d\u016fvodu neexistence intern\u00edho synchroniza\u010dn\u00edho mechanismu jsou v\u0161echna distribuovan\u00e1 data opat\u0159ena glob\u00e1ln\u00ed \u010dasovou zn\u00e1mkou. Mimo TCP\/IP protokol je komunikaci mezi moduly rovn\u011b\u017e \u0159e\u0161ena pomoc\u00ed sd\u00edlen\u00e9 pam\u011bti, \u010di mechanismu sign\u00e1l\u016f\/slot\u016f. Cel\u00e1 naviga\u010dn\u00ed architektura sest\u00e1v\u00e1 z p\u0159ibli\u017en\u011b dvaceti-p\u011bti soub\u011b\u017en\u011b b\u011b\u017e\u00edc\u00edch modul\u016f v \u0161esti vrstv\u00e1ch: senzorick\u00e1 vrstva, vrstva vn\u00edm\u00e1n\u00ed, mapov\u00e1n\u00ed, detekce cesty a pl\u00e1nov\u00e1n\u00ed, reaktivn\u00ed vrstva a vrstva \u0159\u00edzen\u00ed n\u00edzk\u00e9 \u00farovn\u011b. <\/p>\n<p><a href=\"http:\/\/www.rcesystems.cz\/wp-content\/uploads\/2013\/09\/roboauto_navig_arch.png\"><img decoding=\"async\" loading=\"lazy\" class=\"aligncenter size-large wp-image-163\" alt=\"roboauto_navig_arch\" src=\"http:\/\/www.rcesystems.cz\/wp-content\/uploads\/2013\/09\/roboauto_navig_arch-1024x370.png\" width=\"940\" height=\"250\" \/><\/a><\/p>\n<p style=\"text-align: justify;\">Z \u0161ir\u0161\u00edho pohledu \u0159e\u0161\u00ed naviga\u010dn\u00ed architektura nep\u0159esnost senzorick\u00fdch m\u011b\u0159en\u00ed pomoc\u00ed dvojit\u00e9ho intern\u00edho modelu okoln\u00edho prost\u0159ed\u00ed \u2013 lok\u00e1ln\u00ed a glob\u00e1ln\u00ed. Tento p\u0159\u00edstup eliminuje problematickou f\u00fazi informac\u00ed se zcela r\u016fznorodou charakteristikou chyb.  Dal\u0161\u00ed v\u00fdhodou je p\u0159irozen\u00e1 dekompozice \u00falohy dle naviga\u010dn\u00edho m\u011b\u0159\u00edtka. <\/p>\n<p><\/p>","protected":false},"excerpt":{"rendered":"<p>RoboAuto je projektem skupiny odborn\u00edk\u016f a&nbsp;akademick\u00fdch pracovn\u00edk\u016f v oblasti sw v\u00fdvoje a um\u011bl\u00e9 inteligence se z\u00e1jmem o technologie automatick\u00e9ho \u0159\u00edzen\u00ed automobilu. C\u00edlem je vytvo\u0159en\u00ed provozuschopn\u00e9 verze modelu automobilu s pln\u00fdm \u0159\u00edzen\u00edm pomoc\u00ed po\u010d\u00edta\u010de.<\/p>\n","protected":false},"author":2,"featured_media":164,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[10],"tags":[14,15,9],"_links":{"self":[{"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/posts\/161"}],"collection":[{"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/comments?post=161"}],"version-history":[{"count":13,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/posts\/161\/revisions"}],"predecessor-version":[{"id":560,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/posts\/161\/revisions\/560"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/media\/164"}],"wp:attachment":[{"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/media?parent=161"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/categories?post=161"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rcesystems.cz\/cs\/wp-json\/wp\/v2\/tags?post=161"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}