Dynamic obstacle avoidance for intelligent vehicle using 3D LIDAR scan | |
| Author | Parkpoom Kerdtanamongkol |
| Call Number | AIT Thesis no.ISE-10-39 |
| Subject(s) | Intelligent Vehicle Highway Systems Global Positioning System |
| Note | A thesis submitted in partial fulfillment of the re quirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-10-39 |
| Abstract | In the unmanned vehicle or intelligent vehicle rese arch, there are many challenging topics. The most important topic regarding to the s afety reason is obstacle avoidance. To achieve excellent ability of obstacle avoidance, the two important parts are obstacle detection system and processing algorithm. In many research use 2D laser scanner as a detection system, this thesis would like to propose 3D sensor made from 2D laser scanner integrated to Velocity Obstacle processing algorithm. The 3D sensor is from commercial 2D sensor with additional rotation. With rotation, a measurement data has one more dimension. It can detect more various shap e and condition of obstacle and can extend the detection ability that the 2D sensor can not have. With object tracking algorithm, the velocity and direction of obstacles can be detected. With Velocity Obstacle algorithm, the velocities of obstacles are taken in to account. The output from Velocity Obstacle algorithm is the heading orientat ion and its magnitude for the intelligent vehicle to avoid the collision with obs tacle having motion. In other words, Velocity Obstacle generates safe velocity vector fo r the vehicle. The result of this integration between 3D sensor and Velocity Obstacle algorithm shows that the intelligent vehicle can avoid the collision to both dynamic and stationary obstacle with more various condition of obstacle compared to the 2D sensor which can detect only the objects intersecting the scanning plane. |
| Year | 2010 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-10-39 |
| 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) | Dailey, Mathew N.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | RTG Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2010 |