Path planning for an unmanned terrestrial vehicle in an obstacle ridden environment
Date
2009-03
Authors
Ferreira, Thomas Ignatius
Journal Title
Journal ISSN
Volume Title
Publisher
Stellenbosch : University of Stellenbosch
Abstract
This thesis relates to the successful development of an unmanned terrestrial
vehicle (UTV) capable of operating in an obstacle ridden environment. The
primary focus of the project is on the specific path planning algorithms. It
is shown that specific methods of populating the obstacle-free space can be
combined with methods of extracting the shortest path from these popula-
tions. Through use of such combinations the successful generation of optimal
collision-free paths is demonstrated.
Previously developed modular architectures are combined and modified to
create a UTV platform which meets all the requirements for implementation
of navigational systems and path planning algorithms on board the platform.
A two-dimensional kinematic state estimator is developed. This estimator
makes use of extended Kalman Filter theory to optimally combine measurements
from low cost sensors to yield the vehicle’s state vector. Lateral guidance
controllers are developed to utilize this estimated state vector in a feedback
control configuration. The entire system is then successfully demonstrated
within a simulation environment. Finally, practical results from two
days of test runs are provided in both written and interactive form
Description
Thesis (MEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
Keywords
Path planning, Visibility graphs, Vehicles, Remotely piloted, Dissertations -- Electrical engineering, Theses -- Electrical engineering