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Motion Control of an Autonomous Solar Vehicle


S. Allemann

Semester Thesis, FS 10 (10038)

In this semester thesis, the rst steps of motion control in an existing project called Autonomous Solar Vehicle (ASV) were implemented. That means position determination, could be absolute or relative, obstacle detection and trajectory control. Different sensors were compared and there advantages and disadvantages were discussed. An infrared sensor, an ultrasonic sensor and the servo for the steering of the front axis to end the initial position were implemented and programmed. With a distance feedback from each wheel, an angorithm based on odometry was introduced, programmed and tested. With this algorithm and with a distance and an angle as input, the ASV was cabable to drive to almost every point wanted, also because it's possible to split one big trajectory in smaller one, each with a relative distance and angle. So this work gives basic imformations and programs for motion control and based on them, it's possible to enlarge it for example to end the optimal trajectory considering obstacles.


Type of Publication:

(13)Semester/Bachelor Thesis

S. Mariéthoz

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3714
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