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Implementation and testing of a path tracker for a full-scale Unmanned Ground Vehicle
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
2019 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This project is the implementation and testing of a path tracker for a car-sized Unmanned Ground Vehicle. The vehicle, a Toyota Land Cruiser, was provided by SSC and hadpreviously been modified for remote operation. The developed path tracker uses a "follow the carrot" algorithm and has been writtenin C using the Robot Operating Software (ROS) framework and has been integrated intothe vehicles existing ROS powered software. During the implementation, the Gazebo rigid body simulator was used to simulate a simplified vehicle. Integration with the real sensors was performed using a small-scalecar, both indoors with the aid of a Vicon motion capture system and outdoors utilizingonly sensors available to the full-size car. The small-scale tests showed promise, howeverwhen full-scale field tests were performed the results showed some problems and reasonsfor these are discussed.

Place, publisher, year, edition, pages
2019. , p. 37
National Category
Robotics
Identifiers
URN: urn:nbn:se:ltu:diva-73079OAI: oai:DiVA.org:ltu-73079DiVA, id: diva2:1292881
External cooperation
SSC
Subject / course
Student thesis, at least 30 credits
Educational program
Computer Science and Engineering, master's level
Supervisors
Examiners
Available from: 2019-04-10 Created: 2019-03-01 Last updated: 2019-04-10Bibliographically approved

Open Access in DiVA

fulltext(7606 kB)22 downloads
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Rådman, Marcus
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf