Rapid close surrounding evaluation for autonomous commercial vehicles
Ladda ner
Typ
Examensarbete för masterexamen
Master Thesis
Master Thesis
Program
Complex adaptive systems (MPCAS), MSc
Publicerad
2016
Författare
Bagchi, Shamit
Soultani, Evangelia
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
A framework has been developed for local, relative navigation of an autonomous commercial vehicle in confined areas. This enables a vehicle to navigate based only on its immediate surroundings, with the vehicle as the reference. The framework uses a simulator, to simulate the environment of a mine, and a vehicle model. The latter is equipped with 2D LIDAR sensors which allow it to interpret its close surroundings. Based on this information, a navigation algorithm is selected which performs the path planning and moves the vehicle. Four such algorithms have been developed in order to handle two distinct scenarios: navigation in a corridor and navigation at an intersection. The algorithms have been evaluated for safety and accuracy and perform consistently well. The overall root mean square deviation from a reference path is less than 25% of a chosen collision threshold. Throughout the evaluation, a safe distance from all the walls was maintained. In addition, the path generation algorithms were highly efficient with an average execution time of under 2 milliseconds. This work opens up the possibilities for algorithms which can handle additional navigation scenarios and can learn and adapt to its environment.
Beskrivning
Ämne/nyckelord
Farkostteknik , Transport , Vehicle Engineering , Transport