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Automation and navigation of a terrestrial vehicle
Thesis (MScEng)--Stellenbosch University, 2012
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| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2012
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| _version_ | 1867613971940376576 |
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| access_status_str | Open Access |
| author | Visser, Wynand |
| author2 | Jones, T. |
| author_browse | Jones, T. Visser, Wynand |
| author_facet | Jones, T. Visser, Wynand |
| author_sort | Visser, Wynand |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2012 |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/20263 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:44:37.487Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2012 |
| publishDateRange | 2012 |
| publishDateSort | 2012 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/20263 Automation and navigation of a terrestrial vehicle Visser, Wynand Jones, T. Stellenbosch University. Faculty OF Engineering. Dept. of Electrical and Electronic Engineering Autonomous navigation Path planning Lidar mapping Vehicle automation Dissertations -- Electronic engineering Theses -- Electronic engineering Thesis (MScEng)--Stellenbosch University, 2012 ENGLISH ABSTRACT: This thesis presents the design and implementation of an autonomous navigational system and the automation of a practical demonstrator vehicle. It validates the proposed navigation architecture using simple functional navigational modules on the said vehicle. The proposed navigation architecture is a hierarchical structure, with a mission planner at the top, followed by the route planner, the path planner and a vehicle controller with the vehicle hardware at the base. A vehicle state estimator and mapping module runs in parallel to provide feedback data. The controls of an all terrain vehicle are electrically actuated and equipped with feedback sensors to form a complete drive-by-wire solution. A steering controller and velocity control state machine are designed and implemented on an existing on-board controller that includes a six degrees-of-freedom kinematic state estimator. A lidar scanner detects obstacles. The lidar data is mapped in real time to a local three-dimensional occupancy grid using a Bayesian update process. Each lidar beam is projected within the occupancy grid and the occupancy state of a ected cells is updated. A lidar simulation environment is created to test the mapping module before practical implementation. For planning purposes, the three-dimensional occupancy grid is converted to a two-dimensional drivability map. The path planner is an adapted rapidly exploring random tree (RRT) planner, that assumes Dubins car kinematics for the vehicle. The path planner optimises a cost function based on path length and a risk factor that is derived from the drivability map. A simple mission planner that accepts user-de ned waypoints as objectives is implemented. Practical tests veri ed the potential of the navigational structure implemented in this thesis. AFRIKAANSE OPSOMMING: In hierdie tesis word die ontwerp en implementering van 'n outonome navigasiestelsel weergegee, asook die outomatisering van 'n praktiese demonstrasievoertuig. Dit regverdig die voorgestelde navigasie-argitektuur op die bogenoemde voertuig deur gebruik te maak van eenvoudige, funksionele navigasie-modules. Die voorgestelde navigasie-argitektuur is 'n hi erargiese struktuur, met die missie-beplanner aan die bo-punt, gevolg deur die roetebeplanner, die padbeplanner en voertuigbeheerder, met die voertuighardeware as basisvlak. 'n Voertuigtoestandsafskatter en karteringsmodule loop in parallel om terugvoer te voorsien. Die kontroles van 'n vierwiel-motor ets is elektries geaktueer en met terugvoersensors toegerus om volledig rekenaarbeheerd te wees. 'n Stuur-beheerder en 'n snelheid-toestandmasjien is ontwerp en ge mplementeer op 'n bestaande aanboordverwerker wat 'n kinematiese toestandsafskatter in ses grade van vryheid insluit. 'n Lidar-skandeerder registreer hindernisse. Die lidar-data word in re ele tyd na 'n lokale drie-dimensionele besettingsrooster geprojekteer deur middel van 'n Bayesiese opdateringsproses. Elke lidar-straal word in die besettingsrooster geprojekteer en die besettingstoestand van betrokke selle word opdateer. 'n Lidar-simulasie-omgewing is geskep om die karteringsmodule te toets voor dit ge mplementeer word. Die drie-dimensionele besettingsrooster word na 'n twee-dimensionele rybaarheidskaart verwerk vir beplanningsdoeleindes. Die padbeplanner is 'n aangepaste spoedig-ontdekkende-lukrake-boom en neem Dubinskar kinematika vir die voertuig aan. Die padbeplanner optimeer 'n koste-funksie, gebaseer op padlengte en 'n risiko-faktor, wat vanaf die rybaarheidskaart verkry word. 'n Eenvoudige missie-beplanner, wat via-punte as doelstellings neem, is ge mplementeer. Praktiese toetsritte veri eer die potensiaal van die navigasiestruktuur, soos hier beskryf. 2012-03-12T13:25:21Z 2012-03-30T10:58:06Z 2012-03-12T13:25:21Z 2012-03-30T10:58:06Z 2012-03 Thesis http://hdl.handle.net/10019.1/20263 en_ZA Stellenbosch University 129 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Autonomous navigation Path planning Lidar mapping Vehicle automation Dissertations -- Electronic engineering Theses -- Electronic engineering Visser, Wynand Automation and navigation of a terrestrial vehicle |
| title | Automation and navigation of a terrestrial vehicle |
| title_full | Automation and navigation of a terrestrial vehicle |
| title_fullStr | Automation and navigation of a terrestrial vehicle |
| title_full_unstemmed | Automation and navigation of a terrestrial vehicle |
| title_short | Automation and navigation of a terrestrial vehicle |
| title_sort | automation and navigation of a terrestrial vehicle |
| topic | Autonomous navigation Path planning Lidar mapping Vehicle automation Dissertations -- Electronic engineering Theses -- Electronic engineering |
| url | http://hdl.handle.net/10019.1/20263 |
| work_keys_str_mv | AT visserwynand automationandnavigationofaterrestrialvehicle |