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무인 주행 차량을 위한 경로 추종 및 장애물 회피 통합 방법 제안

Title
무인 주행 차량을 위한 경로 추종 및 장애물 회피 통합 방법 제안
Author
김동형
Advisor(s)
한창수
Issue Date
2010-02
Publisher
한양대학교
Degree
Master
Abstract
This thesis presents a novel method that integrates path tracking and obstacle avoidance for UGV (Unmanned Ground Vehicle). For an autonomous navigation of UGV, the fundamental function of the vehicle is following the given waypoints. In this thesis, the geometric path tracking method called the vector pursuit is used to make the desired turning radius of the vehicle. And even if the planned path is collision-free, the unexpected obstacle can appear between the waypoints. Therefore, the vehicle should be able to execute the avoidance motion. In the robotics field, the potential field method has been used to make the robot avoid the obstacle. But in this thesis, without calculating the potential field explicitly, the obstacle induces the repulsive force to keep the vehicle away from the obstacles near the path defined by the two consecutive waypoints. In this obstacle avoidance method, the repulsive force makes the desired turning radius of the vehicle. The desired turning radius for path tracking and obstacle avoidance is converted to the steering angle of the front wheel. Then, the input of the vehicle model is the sum of those two steering angles. To validate this integrated method of path tracking and obstacle avoidance, this method is tested on simulation to the bicycle model of the vehicle
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000056633https://repository.hanyang.ac.kr/handle/20.500.11754/143014
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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