Path Finding Autonomous Car, Designed for Room Mapping

Studenteropgave: Kandidatspeciale og HD afgangsprojekt

  • Thore Wienike
  • Kristian Pedersen
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.
Antal sider141
Udgivende institutionElectronic Systems
ID: 9931250