Integrated Design and Experiment of Unmanned Vehicle
Date Issued
2012
Date
2012
Author(s)
Yang, Chun-Yuan
Abstract
The purpose of this investigation is to develop an unmanned vehicle system with precise positioning and obstacle detection and avoidance . The system is consisting of three parts : an unmanned vehicle unit , a main station and a reference station . The unmanned vehicle unit includes a servo motor system and motion control card for motion control ,an ultrasonic range sensor for obstacle detection , a stereo camera for obstacle detection and positioning , a compass and a GPS receiver to provide vehicle atitude and position data. The reference station include another GPS receiver to afford positioning data ,and the main station is to monitor and control the whole systems.
We use Carrier smoothed Code(CSC) method here to calculate the vehicle position with the GPS receivers on unmanned vehicle and reference station .Some compensation strategy is adapted in CSC method to improve the performance of positioning to provide precise position data for unmanned vehicle control. For obstacle-avoiding , we integrate the stereo camera system to detect and position the obstacles in front of the vehicle ,and ultrasonic sensor to detect obstacles that are near the vehicle .After detecting the obstacles , a map then is built that indicate the relationship between vehicle and obstacles .We can design a reference path for the vehicle to track and avoid the obstacles.
By using various obstacle-avoidance modes and the goal-approaching mode, the unmanned vehicle can reach the destination without colliding with surrounding obstacles. The experimental result shows that the proposed integration scheme is feasible.
Subjects
unmanned vehicle
CSC
Type
thesis
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