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Motion Control of an Autonomous Solar Vehicle: Realization of a Communication Platform


S. Boegli

Semester/Bachelor Thesis, WS 09/ 10

In this semester thesis, the rst steps of motion control in an existing project called Autonomous Solar Vehicle (ASV) were implemented. The tasks were position esti- mation, obstacle detection and trajectory control. Di erent sensors were compared and their advantages and disadvantages were discussed. The front servo, an infrared sensor and an ultrasonic sensor were implemented and programmed. The servo was used to force the initial position of the front axis. The test measurements of both obstacle detection sensors were very accurate, the error was less than 2% with the ultrasonic and less than 3.5% with the infrared sensor. The infrared sensor has a range of 40cm, the ultrasonic up to 4 meters. Also a possibility with a combination of both sensors for safe movements is introduced. With the speed feedback of each wheel, an algorithm based on odometry was introduced, programmed and tested. With this algorithm and a distance and an angle as input, the ASV was capable of driving to almost every point wanted, also because it is possible to split one big trajectory in smaller ones, each with a relative distance and angle. So this work gives basic information and programs for motion control and based on them, it will be possible to enlarge it for example to fi nd the optimal trajectory while considering obstacles.


Type of Publication:

(13)Semester/Bachelor Thesis

S. Mariéthoz

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3570
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