Autonom Vejfinderbil, Designet til at Kortlægge Rum
Translated title
Path Finding Autonomous Car, Designed for Room Mapping
Authors
Wienike, Thore ; Pedersen, Kristian
Term
10. term
Publication year
2007
Pages
141
Abstract
Dette projekt beskriver design og konstruktion af en autonom bil, der kan kortlægge et rum ved hjælp af video. Arbejdet fokuserer på tre dele: udvikling af kortlægningsmønstre, opbygning af den fysiske bil og design af bilens styringsregulator. Forskellige ruter til kortlægning blev analyseret, og den mest effektive strategi er at følge væggene og udføre et kamera-sweep (panoramaskanning) for hver 2. meter samt i hvert lukket hjørne. Fordi bilen skal kunne transporteres af en autonom helikopter, er vægten af hver hardwarekomponent vurderet nøje. Der er designet to regulatorer, en P (proportional) og en PI (proportional–integral). Simulationer viste, at P-regulatoren klarede sig bedst, og den anvendes derfor i den valgte kortlægningsrute.
This project describes the design and construction of an autonomous car that maps a room using video. The work focuses on three parts: developing mapping patterns, building the physical vehicle, and designing the car’s control regulator. Several mapping routes were evaluated, and the most effective strategy is to drive along the walls and perform a camera sweep (panoramic scan) every 2 meters and in each enclosed corner. Because the car must be carried by an autonomous helicopter, the weight of each hardware component was considered carefully. Two controllers were designed, a P (proportional) and a PI (proportional–integral). Simulations showed that the P controller performed best, and it is used in the chosen mapping route.
[This abstract was generated with the help of AI]
Keywords
Autonomous ; mapping ; Autonom ; kortlægning
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