In English

Rapid close surrounding evaluation for autonomous commercial vehicles

Shamit Bagchi ; Evangelia Soultani
Göteborg : Chalmers tekniska högskola, 2016. Diploma work - Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden, ISSN 1652-8557; 2016:40, 2016.
[Examensarbete på avancerad nivå]

A framework has been developed for local, relative navigation of an autonomous commercial vehicle in confined areas. This enables a vehicle to navigate based only on its immediate surroundings, with the vehicle as the reference. The framework uses a simulator, to simulate the environment of a mine, and a vehicle model. The latter is equipped with 2D LIDAR sensors which allow it to interpret its close surroundings. Based on this information, a navigation algorithm is selected which performs the path planning and moves the vehicle. Four such algorithms have been developed in order to handle two distinct scenarios: navigation in a corridor and navigation at an intersection. The algorithms have been evaluated for safety and accuracy and perform consistently well. The overall root mean square deviation from a reference path is less than 25% of a chosen collision threshold. Throughout the evaluation, a safe distance from all the walls was maintained. In addition, the path generation algorithms were highly efficient with an average execution time of under 2 milliseconds. This work opens up the possibilities for algorithms which can handle additional navigation scenarios and can learn and adapt to its environment.

Nyckelord: autonomous vehicles, vehicle navigation, local relative path planning, robot operating system, machine learning

Publikationen registrerades 2016-07-04. Den ändrades senast 2016-09-16

CPL ID: 238916

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