Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
Time-efficient algorithms for laser guided autonomous driving
2009 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Robust navigation systems are of great importance in the field of mobile robotics. In order for a mobile robot to be useful, it must know its surroundings at all times to be able to perform its task. The complexity of creating navigation is highly dependent on the environment the robot is to work in and whether or not geographical data of this environment is known beforehand. The key focus in this thesis was to find fast and time efficient robust algorithms and models for driving autonomously along an unknown road using minimal equipment. It also strives to find a trade off with the least amount of parameters necessary for doing so. A range finding laser scanner (lidar from SICK) was used as a single sensor for interpreting the surroundings of the robot. The scanning laser measures distances in a single plane in front of the car and these data are then interpreted by a road finding algorithm. The goal is to distinguish the road from the terrain. When the system has found what is interpreted as the road it will pass that information to the driver model which is responsible for controlling the car. After the development of a steering model and road finding algorithms, the car successfully managed to navigate autonomously over 1 kilometre along a curved and hilly forest road. While remaining in constant low speed (<20 km/h) the system was robust. higher speeds and acceleration showed weaknesses in the system. including a rate gyro could increase the stability and speed.

Place, publisher, year, edition, pages
2009.
Keyword [en]
Technology, Mobile robotics, autonomous robotics, autonomous driving, laser guided robotics
Keyword [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-47849ISRN: LTU-EX--09/100--SELocal ID: 559fdb25-8315-4ee8-ac6b-18c092510fbeOAI: oai:DiVA.org:ltu-47849DiVA: diva2:1021178
Subject / course
Student thesis, at least 30 credits
Educational program
Media Engineering, master's level
Examiners
Note
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(1935 kB)21 downloads
File information
File name FULLTEXT01.pdfFile size 1935 kBChecksum SHA-512
8d29e09105dfcff0cb8ced0768b6bf2b5edd5d0f338edd326f6773fc7117e742058566e4af03fae42f10d70ee87a50ccb0497604f7efcda5541cb733b152be77
Type fulltextMimetype application/pdf

Search outside of DiVA

GoogleGoogle Scholar
Total: 21 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 19 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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