Rapid close surrounding evaluation for autonomous commercial vehicles
| dc.contributor.author | Bagchi, Shamit | |
| dc.contributor.author | Soultani, Evangelia | |
| dc.contributor.department | Chalmers tekniska högskola / Institutionen för tillämpad mekanik | sv |
| dc.contributor.department | Chalmers University of Technology / Department of Applied Mechanics | en |
| dc.date.accessioned | 2019-07-03T14:16:11Z | |
| dc.date.available | 2019-07-03T14:16:11Z | |
| dc.date.issued | 2016 | |
| dc.description.abstract | 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. | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12380/238916 | |
| dc.language.iso | eng | |
| dc.relation.ispartofseries | Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden : 2016:40 | |
| dc.setspec.uppsok | Technology | |
| dc.subject | Farkostteknik | |
| dc.subject | Transport | |
| dc.subject | Vehicle Engineering | |
| dc.subject | Transport | |
| dc.title | Rapid close surrounding evaluation for autonomous commercial vehicles | |
| dc.type.degree | Examensarbete för masterexamen | sv |
| dc.type.degree | Master Thesis | en |
| dc.type.uppsok | H | |
| local.programme | Complex adaptive systems (MPCAS), MSc |
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