Sensor fusion-based speed and heading control for an intelligent vehicle | |
| Author | Htet Wai Yan |
| Call Number | AIT Thesis no.ISE-20-09 |
| Subject(s) | Autonomous vehicles--Technological innovations Automated vehicles Driver assistance systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Abstract | In this thesis, I mainly present about the navigation control with obstacle avoidance algorithm (virtual forces field) on small forklift vehicle. This small forklift vehicle is tested in the outdoor environment with different places near the I-S-E building. The small forklift vehicle has sensors to compute the navigation with obstacle avoidance algorithm. These two algorithms are fused together and prevent the vehicle from collision by avoiding unknown obstacles with steering angle and this sensor fusion makes the vehicle move to the next waypoint. For the narrow space or lane, the vehicle can’t perform the obstacle avoidance. This thesis doesn’t take into account the weakness of obstacle avoidance algorithm called “local minima”. These weaknesses should be improved in the future. The experiments are demonstrated with the maximum speed of 50 cm/s outdoor. |
| Year | 2020 |
| 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) | Mongkol Ekpanyapong;Pisut Koomsap |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics Engineering, School of Engineering and Technology |