碩士 / 國立雲林科技大學 / 機械工程系 / 102 / The thesis presents a method for the navigation and obstacle avoidance of an Unmanned Ground Vehicle (UGV), which integrated the Global Positioning System (GPS),
Attitude and Heading Refrence System (AHRS) and Light Detection and Ranging sensor (LiDAR). With GPS and AHRS sensor, relative position between the target and the vehicle itself and heading of the vehicle could be determined. With a LiDAR sensor, the environment could also be perceived by the vehicle. The thesis has developed a path-planning algorithm which integrated all the data acquired by these sensors, in order to avoid obstacles in the environment and reach the target defined by GPS at the same time. The thesis has developed an UGV named `Yun-Trooper \nolinebreak II' based on a 4-wheel-drived remote-controlled model car. It was equipped with an ARM-Based embedded GNU/Linux computer to make calculation and control, and all the program were developed by C++ programming language. The thesis has integrated the GPS navigation and obstacle avoidance algorithms, modified the VFH+ obstacle avoidance algorithm to adapt the data acquired by LiDAR. The modified version of VFH+ offers several improvements that overcomes the inability of VFH+ in some environments.
| Identifer | oai:union.ndltd.org:TW/102YUNT0489012 |
| Date | January 2014 |
| Creators | Hsin-Wu Liu, 劉炘武 |
| Contributors | Ying-Jeng Wu, 吳英正 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 59 |
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