Low-cost autonomous rover with heterogeneous compute

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dc.contributor.advisorFisher, Callenen_ZA
dc.contributor.authorVan Zyl, Rynhardten_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.en_ZA
dc.date.accessioned2023-11-20T09:09:17Zen_ZA
dc.date.accessioned2024-01-08T16:19:36Zen_ZA
dc.date.available2023-11-20T09:09:17Zen_ZA
dc.date.available2024-01-08T16:19:36Zen_ZA
dc.date.issued2023-12en_ZA
dc.descriptionThesis (MEng)--Stellenbosch University, 2023.en_ZA
dc.description.abstractENGLISH ABSTRACT: This research investigates the development of a cost-effective autonomous rover system, utilising a heterogeneous computing architecture to meet its operational goals. The central question addressed is: Can a budget-friendly autonomous rover system be constructed that effectively utilises a heterogeneous computing architecture to meet its operational objectives? The study begins with a detailed review of current advancements in low-cost autonomous rovers and heterogeneous computing architectures. This review identifies existing challenges and opportunities in this field, providing a solid foundation for developing the autonomous rover system. A low-cost autonomous rover system incorporating a heterogeneous computing architecture was designed and constructed. This system, priced under R50 000, operates with minimal human intervention, receiving only goal-oriented instructions from an operator. The embedded heterogeneous computing architecture utilises multiple tiers of computational resources, distributing workloads across various processing units, thereby avoiding exclusive reliance on multi-threaded computation. The performance of the developed system was evaluated in a controlled, real-world environment. The system demonstrated high adaptability and efficiency in different conditions, with an average speed of 0.5 m/s and an average energy consumption of 0.2 kWh (measured by an external device). The system also demonstrated high adaptability, with an error rate of less than 5% in decision-making. The average decision-making time was 0.1098 seconds, with an accuracy rate of over 95%. The system was found to have a high task allocation efficiency of over 90%, with an average execution time of less than 0.1 seconds. The findings of this research have the potential to significantly contribute to the field of autonomous systems, providing a blueprint for the development of cost-effective solutions for autonomous navigation and operation. The study concludes with a discussion of the implications of the research and provides a trajectory for future endeavours in developing budget-friendly autonomous rover systems harnessing the power of heterogeneous computing architectures.en_ZA
dc.description.abstractAFRIKAANSE OPSOMMING: Hierdie navorsing ondersoek die ontwikkeling van ’n koste-effektiewe outonome rover-stelsel, wat gebruik maak van ’n heterogene rekenaarargitektuur om sy operasionele doelwitte te bereik. Die sentrale vraag wat aangespreek word, is: Kan ’n begrotingsvriendelike outonome rover-stelsel gebou word wat ’n heterogene rekenaarargitektuur effektief benut om sy operasionele doelwitte te bereik? Die studie begin met ’n gedetailleerde oorsig van huidige vorderings in lae-koste outonome rovers en heterogene rekenaarargitekture. Hierdie oorsig identifiseer bestaande uitdagings en geleenthede in hierdie veld, wat ’n stewige basis bied vir die ontwikkeling van die outonome rover-stelsel. ’n Lae-koste outonome rover-stelsel wat ’n heterogene rekenaarargitektuur inkorporeer, is ontwerp en gebou. Hierdie stelsel, wat minder as R50 000 kos, werk met minimale menslike tussenkoms, en ontvang slegs doelgerigte instruksies van ’n bediener. Die ingebedde heterogene rekenaarargitektuur benut verskeie vlakke van rekenhulpbronne, en versprei werklas oor verskillende verwerkingseenhede, om sodoende uitsluitlike afhanklikheid van multi-threaded berekening te vermy. Die prestasie van die ontwikkelde stelsel is in ’n gekontroleerde, werklike omgewing ge¨evalueer. Die stelsel het ho¨e aanpasbaarheid en doeltreffendheid in verskillende toestande getoon, met ’n gemiddelde spoed van 0.5 m/s en ’n gemiddelde energieverbruik van 0.2 kWh (gemeet deur ’n eksterne toestel). Die stelsel het ook ho¨e aanpasbaarheid getoon, met ’n foutkoers van minder as 5% in besluitneming. Die gemiddelde besluitnemingstyd was 0.1098 sekondes, met ’n akkuraatheidskoers van meer as 95%. Daar is bevind dat die stelsel ’n ho¨e taaktoewysingseffektiwiteit van meer as 90% het, met ’n gemiddelde uitvoeringstyd van minder as 0.1 sekondes. Die bevindinge van hierdie navorsing het die potensiaal om aansienlik by te dra tot die veld van outonome stelsels, deur ’n bloudruk te verskaf vir die ontwikkeling van koste-effektiewe oplossings vir outonome navigasie en bedryf. Die studie sluit af met ’n bespreking van die implikasies van die navorsing en verskaf ’n trajek vir toekomstige pogings om begrotingsvriendelike outonome rover-stelsels te ontwikkel wat die krag van heterogene rekenaarargitekture benut.af_ZA
dc.description.versionMastersen_ZA
dc.format.extentxvii, 132 pages : illustrationsen_ZA
dc.identifier.urihttps://scholar.sun.ac.za/handle/10019.1/128933en_ZA
dc.language.isoen_ZAen_ZA
dc.language.isoen_ZAen_ZA
dc.publisherStellenbosch : Stellenbosch Universityen_ZA
dc.rights.holderStellenbosch Universityen_ZA
dc.subject.lcshHeterogeneous computingen_ZA
dc.subject.lcshAutomated vehiclesen_ZA
dc.subject.lcshReal-time programmingen_ZA
dc.subject.lcshAutonomous rover systemen_ZA
dc.subject.lcshRobotics -- Human factorsen_ZA
dc.titleLow-cost autonomous rover with heterogeneous computeen_ZA
dc.typeThesisen_ZA
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