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A Path Following Method with Obstacle Avoidance for UGVs
Linköping University, Department of Electrical Engineering.
Linköping University, Department of Electrical Engineering.
2008 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The goal of this thesis is to make an unmanned ground vehicle (UGV) follow a given reference trajectory, without colliding with obstacles in its way. This thesis will especially focus on modeling and controlling the UGV, which is based on the power wheelchair Trax from Permobil.

In order to make the UGV follow a given reference trajectory without colliding, it is crucial to know the position of the UGV at all times. Odometry is used to estimate the position of the UGV relative a starting point. For the odometry to work in a satisfying way, parameters such as wheel radii and wheel base have to be calibrated. Two control signals are used to control the motion of the UGV, one to control the speed and one to control the steering angles of the two front wheels. By modeling the motion of the UGV as a function of the control signals, the motion can be predicted. A path following algorithm is developed in order to make the UGV navigate by maps. The maps are given in advance and do not contain any obstacles. A method to handle obstacles that comes in the way is presented.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2008. , 45 p.
Keyword [en]
obstacle avoidance, path planning, odometry calibration, unmanned ground vehicle, UGV
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-11242ISRN: LiTH-ISY-EX--08/4101--SEOAI: oai:DiVA.org:liu-11242DiVA: diva2:17651
Presentation
2008-03-05, Algoritmen, B, Linköpings universitet, Linköping, 13:15 (English)
Uppsok
teknik
Supervisors
Examiners
Available from: 2008-04-18 Created: 2008-04-18Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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