Autonom minibil Evaluering och utveckling av lokalisering och navigation i testmiljön Gulliver
Typ
Examensarbete för kandidatexamen
Bachelor Thesis
Bachelor Thesis
Program
Datateknik 300 hp (civilingenjör)
Publicerad
2014
Författare
Augurell, Daniel
Biljali, Arbnor
Ekeroot, Andreas
Johansson, Anders
Martinsson, Simon
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Automated driving will have an important role in the future, it will make traffic safer and vehicle emissions lower. To develop automated driving in an efficient and inexpensive manner, the Gulliver project at Chalmers University uses scaled vehicles. This bachelor project aims to contribute to the continued research and development of the automated driving vehicles in the Gulliver project. This report presents a possibility to use a more reliable alternative to the current navigation source, along with a study of the vehicles components. An automated vehicle needs a good source of orientation to navigate reliably. A compass has previously been used as a navigation source, but its susceptibility to electromagnetic fields affects its reliability. This issue was solved by developing software and creating drivers to read and interpret the values from a gyroscope. The data from the gyroscope was integrated over time to be used as a navigation source, which gives a more accurate angular position not affected by electromagnetic interference. To further increase the precision of the localization, the project has determined the behavior and accuracy of the ranging and communications module. Evaluation of the test results indicated that the ranging device antenna was placed to low. This evantuated in a higher positioning of the antenna, resulting in a significant improvement of the cars localization. The precision of the steering and the motor controller had not been verified, thus measurements were made in the project to determine the precision of those components. The different parts of this bachelor project has together created an overall improvement in performance of the automated features of the vehicles. The solutions contribute to the development of a safe and reliable system in the future. It can also be applicable to systems with similar needs, like autonomous airplanes and quadcopters.
Beskrivning
Ämne/nyckelord
Data- och informationsvetenskap , Computer and Information Science