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Online Path-Planning for the Autonomous Solar Vehicle


L. Labhart

Semester Thesis, HS13 (10284)

In this semester thesis, a basic path planning algorithm was developed and implemented on the existing platform, the Autonomous Solar Vehicle (ASV). The ASV is equipped with an H1-controller which is able to drive the vehicle from point A to B. This controller is the basis for this work as it will be used to follow a series of waypoints. Several different approaches were investigated and, based on computational resources, a modified A*-algorithm was used to generate a path which not only is the shortest path between two points but also avoids obstacles in the vehicles way. A physical model of the vehicle was developed with which the mechanical constraints were verified and simplified to make sure the generated path is feasable with the control inputs. In this very first step, the map itself is defined and uploaded by the user but in future work it might be extended to use sensors for obstacle detection.


Type of Publication:

(13)Semester/Bachelor Thesis

D. Frick

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4584
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