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Spatial and reactive navigation for an autonomous vehicle in an unknown environment
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2011 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis report describes the process of developing an autonomous non-holonomic robot that can navigate and find targets in unknown environments. The goal was to create a system for a robot that was good enough to reach an honorable position in the SICK Robot Day competition 2009. The challenge of the competition was to build a autonomous vehicle that as fast as possible, found and marked number plates in a predefined order. To achieve this goal, we combined old and well known research with algorithms developed for this very purpose.The outcome of this project was an AI that could process sensor data and use it to plan smooth and safe routes to the destination. Behaviors for exploring unknown environments, detecting dead-ends, and avoiding collisions with other vehicles was also implemented. The report further explains and describes techniques such as SLAM and motion planning, which could have been applied to achieve a better and more accurate result.

Place, publisher, year, edition, pages
, UMNAD, 883
National Category
Engineering and Technology
URN: urn:nbn:se:umu:diva-48272OAI: diva2:447800
Educational program
Master of Science Programme in Computing Science and Engineering
Available from: 2011-10-13 Created: 2011-10-13 Last updated: 2011-10-14Bibliographically approved

Open Access in DiVA kB)118 downloads
File information
File name FULLTEXT01.pdfFile size 6059 kBChecksum SHA-512
Type fulltextMimetype application/pdf

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