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Development of an autonomous vehicle system
2002 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Unmanned aerial vehicles (UAV) are a reality today. However UAVs are not yet able to make coordinated operations. You cannot have several airplanes flying in formation following the leader automatically. This Master Thesis project will explore the possibility to allow autonomous vehicles to have coordinate operations by driving in formation and sharing information using a wireless-network. The goal of the project is to display the co-operation between a car controlled by a driver and an autonomous vehicle navigating by itself on a preset path. The autonomous vehicle should drive in front of the manned vehicle at a specified distance and have a onboard digital camera capable of sending back real time video using a wireless-network to the laptop computer in the manned vehicle. This report describes the design of our prototype of an autonomous vehicle capable of co-working with other vehicles. It covers both software and hardware design with the emphasis on the control system design and the sensors selected for navigation. The hardware/software design is verified by simulations and test-drives of the autonomous vehicle during winter conditions. The result of this project is a prototype of an autonomous vehicle with the software and the hardware needed to be able to drive autonomic in front of another vehicle and send real time video and sensor data through a wireless network. The long-term goal of this project is to develop a system that allows several autonomous vehicles (cars, tanks, boats, airplanes etc) to co-work. Nowadays the UAV’s fly solo. Have them flying together in a formation could be useful when mapping an area using UAV’s with sensors and cameras scanning the ground. Instead of making several passes over the same area with one UAV, several could fly in formation covering a larger area and thus making the mapping of the ground faster. This would probably also make the mapping more accurate since the pictures and sensor data is taken in one sweep instead of several.

Place, publisher, year, edition, pages
Keyword [en]
Technology, Autonomous vehicle, PC104, Compass, GPS, Rate Gyro, Navigation control, Client/Server, TCP/IP, Wave-LAN, Accelerometer
Keyword [sv]
URN: urn:nbn:se:ltu:diva-50597ISRN: LTU-EX--02/306--SELocal ID: 7d44e414-6de2-4fdd-8b85-0c4b28de775fOAI: diva2:1023958
Subject / course
Student thesis, at least 30 credits
Educational program
Electrical Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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