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Motion planning for an autonomous terrestrial ehicle in static environments
Thesis (MEng)--Stellenbosch University, 2018.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2018
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| _version_ | 1867614066540806144 |
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| access_status_str | Open Access |
| author | Bester, Andries Jacobus |
| author2 | Van Daalen, Corne E. |
| author_browse | Bester, Andries Jacobus Van Daalen, Corne E. |
| author_facet | Van Daalen, Corne E. Bester, Andries Jacobus |
| author_sort | Bester, Andries Jacobus |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2018. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/103539 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:46:07.073Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2018 |
| publishDateRange | 2018 |
| publishDateSort | 2018 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/103539 Motion planning for an autonomous terrestrial ehicle in static environments Bester, Andries Jacobus Van Daalen, Corne E. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. UCTD Autonomous vehicles Terrestrial navigation Static Environments Thesis (MEng)--Stellenbosch University, 2018. ENGLISH ABSTRACT: Ground or land-based vehicles capable of navigating autonomously in various environments are rapidly becoming more popular and have multiple advantages and uses, from a Mars rover to autonomous agricultural vehicles or search-and-rescue robots. Vehicle manufacturers are also racing to be the first to deliver a completely self-driving car, with technological advances already facilitating features like self-parking, predictive braking, adaptive cruise control and traffic sign recognition. This project aims to contribute to autonomous navigation research by improving on motion planning techniques for terrestrial vehicles. The work done includes the modelling and control of a quad bike with actuators installed to facilitate autonomous control of the steering, throttle and brakes of the vehicle. With the simulation model of the vehicle, the commanded behaviour of the vehicle could be quantised in sets of movements to produce replicable manoeuvres. The path planning algorithm developed in this project then searches in a map of the environment and uses these manoeuvres to build a path for the vehicle, which adheres to the kinematic and dynamic constraints of the vehicle. To supplement the modular design of the path planning algorithm, a simplified conflict detection algorithm and map representation were created to allow the path planner to be developed without knowledge of the map or the representation of obstacles. The results obtained from the field tests indicate that the path planning algorithm could find a path that became more optimal the longer the algorithm was allowed to search, and that the vehicle could follow the path generated by the planner. The functionality of the path planner was demonstrated without the ability to do replanning in real time, and is therefore advised that further research should include the real-time application and optimisation of the proposed algorithm. AFRIKAANSE OPSOMMING: Grond- of landgebonde voertuie wat in staat is om outonoom te navigeer in verskeie omgewings, is besig om vinnig meer populˆer te raak en het vele voordele en gebruike, van ’n Mars-karretjie tot outonome landbouvoertuie of soek-en-reddingstuie. Voertuigvervaardigers is ook besig om mekaar te jaag om die eerste motor op te lewer wat volledig self kan bestuur, waar tegnologiese verwikkelinge reeds funksies fasiliteer soos self parkeer, voorspelbare remtoepassing, aanpasbare spoedbeheer en die herkenning van verkeerstekens. Hierdie projek se doel is om ’n bydrae te lewer tot die navorsing van outonome navigasie deur die verbeter van tegnieke om die beweging van andgebonde voertuie te beplan. Die werk wat gedoen is, sluit die modellering en beheer van ’n vierwielmotorfiets in waarvan die remme, stuurwiel en brandstofsneller automaties beheer kan word deur voorheen bygevoegde aktueerders. Met die simulasiemodel van die vierwielmotorfiets kon die beheerde gedrag saamgevat word in ’n stel van bewegings wat herhaalbaar is. Die padbeplanningsalgoritme, wat ontwikkel is in hierdie projek, soek ’n roete op die kaart van die omgewing wat gebou kan word, soos gedefinieer deur die bewegings van die vierwielmotorfiets. Sodoende kan dit ’n pad produseer wat voldoen aan die dinamiese bewegingsbeperkinge van die motorfiets. Om die modulˆere ontwerp van die padbeplanner te ondersteun, moes ’n vereenvoudigde metode om ’n botsing of konflik vas te stel en ’n kaartvoorstelling ontwikkel word sodat die padbeplanner afgesonder kan word van hoe ’n kaart of hindernis voorgestel word. Die toetsresultate wat verkry is uit die praktiese toetse, het aangedui dat die padbeplanner wel ’n pad kon vind in die kaart van die omgewing en dat die pad al hoe meer optimaal raak, hoe langer die algoritme toegelaat word om aan te hou soek. Die toetsresultate het ook bewys dat die vierwielmotorfiets in staat was om die beplande roete te volg en voltooi. Die funksionaliteit van die padbeplanner is gedemonstreer sonder dat die beplanner die vermo¨e het om in werklike tyd ’n nuwe roete aan te pas. Dit word dus voorgestel dat toekomstige navorsing die toepassing van herbeplanning in werklike tyd moet insluit en die ontwikkelde algoritme verder te optimeer. 2018-02-21T08:37:58Z 2018-04-09T06:59:51Z 2018-02-21T08:37:58Z 2018-04-09T06:59:51Z 2018-03 Thesis http://hdl.handle.net/10019.1/103539 en_ZA Stellenbosch University 142 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | UCTD Autonomous vehicles Terrestrial navigation Static Environments Bester, Andries Jacobus Motion planning for an autonomous terrestrial ehicle in static environments |
| title | Motion planning for an autonomous terrestrial ehicle in static environments |
| title_full | Motion planning for an autonomous terrestrial ehicle in static environments |
| title_fullStr | Motion planning for an autonomous terrestrial ehicle in static environments |
| title_full_unstemmed | Motion planning for an autonomous terrestrial ehicle in static environments |
| title_short | Motion planning for an autonomous terrestrial ehicle in static environments |
| title_sort | motion planning for an autonomous terrestrial ehicle in static environments |
| topic | UCTD Autonomous vehicles Terrestrial navigation Static Environments |
| url | http://hdl.handle.net/10019.1/103539 |
| work_keys_str_mv | AT besterandriesjacobus motionplanningforanautonomousterrestrialehicleinstaticenvironments |