Navigation and control of an intelligent vehicle in a racing field with randomly placed obstacles | |
| Author | Chairit Wuthishuwong |
| Call Number | AIT Thesis no.ISE-08-31 |
| Subject(s) | Artificial intelligence Global Positioning System |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-08-31 |
| Abstract | This paper proposes an autonomous navigation and control algorithm which capable to travel around the unmodified racing field with randomly placed obstacles by using GPS, digital compass and SICK laser range finder sensors. In this study, an electrically powered golf car is modified for autonomously navigate and control purpose. The navigation algorithm used geometrical model which is the physical geometry between a vehicle and a path to determine the desired direction. With potential field, it help a vehicle avoid do not move to the hazardous area. Potential field based method is broadly used in robot motion planning. The safe trajectory of a vehicle can be generated by superimpose of attractive force vector and repulsive force vector. The Behavior based performs overall control. It is implemented as state machine. It decomposes the robot task into sub-behaviors and activates only one behavior to be taken an action based on the perceived data. Furthermore, Fuzzy rule base integrate with PD controller is implemented to continuously and adaptively control the vehicle's heading. The Fuzzy rules are contained of set of controller gains which used to optimally adjust the gains of the controller. Experimental result represents the proposd method can successfully navigate an intelligent vehicle through predefined waypoints at various speed while avoiding randomly placed obstacles. |
| Year | 2008 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-08-31 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Dailey, Mathew N. |
| Scholarship Donor(s) | Royal Thai Government |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2008 |