M.Ing. / This thesis deals with the modelling and control of an autonomous four-wheeled car-like vehicle. The autonomous vehicle is built on the chassis of a Tamiya TXT-1, one-tenth scale, off-road remote control truck. The simplified kinematic and dynamic models of this vehicle are derived for the purposes of control. These models are converted to a suitable form and control laws are then developed to perform set-point control as well as path following. A sonar array is constructed to permit the vehicle to sense its surroundings and construct a map of an unknown environment as it navigates through it. Lastly the Vector Field Histogram (VFH) obstacle avoidance algorithm is implemented and used to guide the vehicle through a sparsely populated environment without colliding with the obstacles.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:uj/uj:9225 |
| Date | 14 August 2012 |
| Creators | Sabatta, Deon George |
| Source Sets | South African National ETD Portal |
| Detected Language | English |
| Type | Thesis |
Page generated in 0.0045 seconds