A master thesis from Aalborg University
Autonomous Navigation in Urban Environments
Author(s)
Term
4. term
Education
Publication year
2018
Submitted on
2018-06-07
Pages
150 pages
Abstract
A future transportation service for Aalborg University (AAU) is imagined as Autonomous Mobility on Demand (AMoD). This thesis in- tends to build a solid foundation to such a ser- vice by addressing the basics of autonomous driving. The problem is derived specifically for the available platform, which is a golf cart. A first-principles model of a cart is derived for simulation purposes. Furthermore, a sim- plified model is derived to ease the controller design. To bind this model with the actual platform, the models for the actuators are derived. Nonlinear controllers are designed to fulfil the path-following problem and are tested in simulation. The actuator models are used to extend these controllers to implement them in the actual platform. As the controllers needs feedback, the measurements provided by the equipped sensors are fused together using an Extended Kalman Filter (EKF). The combination of the controllers and the EKF is tested in the platform. An exhaustive review of the state-of-the-art path-planners is per- formed. Based on this, an optimal Rapidly- exploring Random Trees algorithm (RRT*) with kinodynamic constraints is implemented and tested in simulation. The environment for it is constructed as an occupancy-map. This is performed with two LIDARs using the Cartographer library for Robot Operating System (ROS).
Keywords
Nonlinear control ; Autonomous ; Navigation ; Urban ; Environments ; Path ; planning ; planner ; sensor fusion ; EKF ; Kalman ; RRT ; Lyupanov redesign ; Backstepping ; Vehicle ; golf cart ; MoD ; Mobility-on-Demand
Documents
Colophon: This page is part of the AAU Student Projects portal, which is run by Aalborg University. Here, you can find and download publicly available bachelor's theses and master's projects from across the university dating from 2008 onwards. Student projects from before 2008 are available in printed form at Aalborg University Library.
If you have any questions about AAU Student Projects or the research registration, dissemination and analysis at Aalborg University, please feel free to contact the VBN team. You can also find more information in the AAU Student Projects FAQs.