Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.

  

Autonomous Solar Vehicle - Sensing and Path Planning

Author(s):

J. Amstutz, R. Bernhard
Conference/Journal:

Semester Thesis, HS13 (10294/95)
Abstract:

The Automatic Control Laboratory of ETH Zurich has been working on a project called \Solar Autonomous Vehicle" (ASV). This semester thesis is part of a series of projects implementing a fully autonomous small scale solar vehicle. This project is concerned with the detection of obstacles, sensing the environment and planning paths to avoid the detected obstacles. The goal of this project is to start the implementation of an obstacle detection system and an advanced path planning algorithm that allows the vehicle to avoid the detected obstacles, while reaching a prede ned goal or traveling into a certain direction. We evaluate di erent methods for obstacle detection and start imple- menting a laser triangulation system based on a line laser. We demon- strate an algorithm that successfully detects a laser line in an image using a web cam and a line laser that can be switched on and o . During the course of the project a general purpose PCB was developed. It houses a microcontroller, an FPGA, an accelerometer and gyroscope as well as a camera interface. It can also be used as a communication hub for interconnecting multiple components. Furthermore, we develop and implement a path planning algorithm that eciently computes smooth paths between obstacles and operates only on the information retrieved from the vision system.

Year:

2014
Type of Publication:

(13)Semester/Bachelor Thesis
Supervisor:

D. Frick

No Files for download available.
% Autogenerated BibTeX entry
@PhdThesis { AmsBer:2014:IFA_4766
}
Permanent link