A master thesis from Aalborg University
Autonom Vejfinderbil, Designet til at Kortlægge Rum
[Path Finding Autonomous Car, Designed for Room Mapping]
Author(s)
Term
10. term
Publication year
2007
Submitted on
2007-06-07
Pages
141 pages
Abstract
This project deals with the design and construction of an autonomous car able to video map an arbitrary room. The main topics is developement of a mapping pattern, construction of the physical car, and designing a controller for the car. First the patterns are discussed and the better is found. The best pattern depends on driving alongside the walls and making a sweep with the camera every two meters and in the corners. The car has to be able to be carried by an autonomous helicopter and the weight of every hardware component is considered. Two controller are designed, a P and a PI. The P controller is by simulation found to be the best of the two. The controller is furthermore used to compensate for feedforwards used in the mapping pattern.
Projektet omhandler design og konstruktion af en autonom bil, der kan video kortlægge et rum. Hovedemnerne er udvikling a kortlægningsmønstre, konstruktion af den fysiske bel og design af regulator to bilen. Først er kortlægningsruterne diskuteret og den bedste er fundet. Den bedste går ud på at køre langs væggene og lave et sweep hver anden meter og et i hvert lukket hjørrne. Bilen skal kunne bæres af en autonom helikopter og vægten er hver hardware enhed er derfor overvejet nøje. To regulatorer er blevet designet, en P og en PI. P regulatoren er ved simmulering fundet bedst af de to. Regulatoren bliver envidere anvendt i kortlægningsruten.
Keywords
Autonomous ; mapping ; Autonom ; kortlægning
Documents
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