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Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control)
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The purpose of this project is to implement obstacle avoidance algorithms to drive the articulated vehicle autonomously in an unknown environment, which is simulated by AgX Dynamics™ simulation software and controlled by Matlab® programming software. Three driving modes are developed for driving the vehicle (Manual, Semi-autonomous and Autonomous) in this project. Path tracking algorithms and obstacle avoidance algorithms are implemented to navigate the vehicle. A GUI was built and used for the manual driving mode in this project. The semi-autonomous mode checked different cases: change lanes, U-turn, following a line, following a path and figure 8 course. The autonomous mode is implemented to drive the articulated vehicle in an unknown environment with moving to a pose path tracking algorithm and VFH+ obstacle avoidance algorithm. Thus, the simulation model and VFH+ obstacle avoidance algorithm seems to be working fine and still can be improved for the autonomous vehicle. The result of this project showed a good performance of the simulation model. Moreover, this simulation software helps to minimize the cost of the articulated vehicle since all tests are in the simulation rather than in the reality.

Place, publisher, year, edition, pages
2016. , 145 p.
Series
Robotics and control lab, ISSN 1654-5419
Keyword [en]
Agx Dynamics, Autonomous, Articulated Vehicle, Path Tracking, Obstacle Avoidance, VFH+, GUI, Matlab
National Category
Robotics Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-126394OAI: oai:DiVA.org:umu-126394DiVA: diva2:1015069
Subject / course
Elektronik
Educational program
Master's Programme in Robotics and Control
Presentation
2015-12-21, TC335, Umeå University TFE building, Umeå, 15:00 (English)
Supervisors
Examiners
Available from: 2016-12-02 Created: 2016-10-04 Last updated: 2016-12-01Bibliographically approved

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Yan's Master Thesis(6571 kB)145 downloads
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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