Autonomous ground vehicles (AGVs) is a growing field within research. AGVs are used in areas like reconnaissance,surveillance, transportation and self-driving cars. The goal of this project is to drive a system of five AGVs modelled as differential drive vehicles along an arbitrary path through a field of obstacles while holding a formation. The goal is achieved by dividing the project into three subprojects. The first subproject is trajectory tracking of one AGV. This is achieved by using the differentialdrivemodel and driving the tracking error of the system to zero.The second subproject is formation control, where a displacement-based, double integrator model is used to get five AGVs to hold a formation of an equilateral triangle while following a path.The third subproject is collision avoidance between AGVs and static obstacles placed along the predetermined path. Collision avoidance is achieved by adding a repulsive potential field around the AGVs and obstacles. All three subprojects are then combined to achieve the goal of the project. Finally, simulations are done in Matlab which confirms that the proposed models are correct. / Autonoma vägfordon är ett växande område inom forskning. Autonoma vägfordon används inom områden som spaning, övervakning, transportering och självkörande bilar.Målet med det här projektet är att köra ett system med fem autonoma vägfordon modellerade som differentialdrivna fordon längsmed en slumpmässig väg genom ett fält med hinder samtidigt som de håller en formation. Målet uppnås genom att dela upp projektet i tre delprojekt. Det första delprojektet är banspårning med ett autonomt vägfordon. Det görs genom att använda den differentialdrivna modellen och driva systemets spårningsfel till noll. Det andra delprojektet är formationshållning där en förskjutningsbaserad dubbelintegratormodell används för att få fem fordon att följa en väg samtidigt som de håller formen av en liksidig triangel. Det tredje delprojektet handlar om att undvika kollision mellan fordonen och statiska hinder som placerats på vägen. Kollisionsundvikning uppnås genom att lägga på ett repellerande potentialfält runt alla agenter och hinder. Alla tre delprojekt kombineras sedan för att lösa projektmålet. Slutligen görs simuleringar i Matlab vilket bekräftar att de framtagna modellerna är korrekta. / Kandidatexjobb i elektroteknik 2022, KTH, Stockholm

Micro-unmanned aerial rotorcraft are quickly gaining acceptance as indoor platforms for performing stealth, surveillance, and rescue and reconnaissance missions. These rotorcraft are generally required to operate in cluttered, unknown, and dynamic GPS-denied environments, which present threats to the safe operation of the vehicle. To overcome these environmental challenges, we describe a system that is capable of localizing itself by producing accurate odometry estimates that can detect and track moving objects and avoid collisions with obstacles while following a moving target using a laser range finder. Our system has been implemented in the Simulink environment in MATLAB. Various simulations have shown our methods to work well, even in the presence of sensor noise and out-of-plane motion. Our system is capable of localizing itself within ±20 mm in North and East and ±0.5 degrees in ψ while detecting and tracking

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With the increasing interest in Virtual/Augmented Reality, the next generation of application platforms is emerging in the form of immersive and engaging experiences. The company Dewire Knightec is exploring an application platform based on the web technology WebXR where users can interact with multiple applications simultaneously. However, numerous independent applications rendering content in the same 3D environment can lead to objects intersecting and occluding, leading to visual conflicts. In this thesis work, we discuss the concept of visual conflicts and avoidance strategies. We present a fully working prototype of a conflict mitigation framework for concurrent WebXR applications. The framework mitigates conflicts using two main collision avoidance strategies in the form of multiple render options and position offsetting. The proposed framework is demonstrated in a scenario where applications render contents on top of buildings in the user’s surroundings. By running multiple applications, a user can for example read a restaurant menu, see mall opening hours, and get travel directions simultaneously. The feasibility and efficiency of the proposed avoidance strategy in developed framework has been evaluated using a focus group of developers and software architects. After the evaluation, the framework can be summarized as a good foundation for future multi-application XR platforms.

As autonomous ground vehicles grow in popularity,it is of interest to study how they could coordinate together andhow the technical systems can be implemented in a safe andeffective manner. The objective of this report is to examine howto autonomously move a formation of vehicles without collisionswith obstacles or other vehicles. This is done by considering threefundamental aspects: trajectory tracking, formation control andcollision avoidance. Firstly a trajectory tracking controller for anindividual vehicle is implemented, with the function of followinga desired trajectory. Secondly a displacement-based formationcontrol is explored for two models, the double-integrator modeland the nonholonomic model, with the objective of coordinatingmultiple vehicles to keep a certain formation. Lastly collisionavoidance is integrated in the formation control by adding arepulsive term to the formation controller. It is shown thatthe agents maintained formation while avoiding collision withobstacles and other agents. The implemented controllers wereverified through simulations in MATLAB. / Eftersom autonoma markfordon blir allt mer vanligt är det vikt att studera hur de kan samordna tillsammans och hur de tekniska systemen kan implementeras på ett säkert samt effektivt sätt. Syftet med denna rapport är att undersöka hur man autonomt kan flytta en formation av fordon utan kollisioner med hinder eller med andra fordon. Detta görs genom att tre grundläggande aspekter övervägs: projektilspårning, formationshållning och kollisionsundvikande. Först implementeras en regulator för projektilsspårning, där funktionen är att följa en önskad bana. Därefter undersöks två modeller inom förskjutningsbaserad formationshållning, med ambitionen att samordna alla fordon för att behålla formationen. Slutligen så integreras metoder för kollisionsundvikning med formationshållning genom att lägga till bortstötande teknik i regulatorn för formationshållning. Det visades att fordonen lyckades med att upprätthålla formationen samtidigt som kollisioner mellan hinder och andra fordon undveks. De implementerade regulatorerna verifierades genom simuleringar i MATLAB. / Kandidatexjobb i elektroteknik 2021, KTH, Stockholm