Path planning for an unmanned terrestrial vehicle in an obstacle ridden environment

[摘要] This thesis relates to the successful development of an unmanned terrestrialvehicle (UTV) capable of operating in an obstacle ridden environment. Theprimary focus of the project is on the specific path planning algorithms. Itis shown that specific methods of populating the obstacle-free space can becombined with methods of extracting the shortest path from these popula-tions. Through use of such combinations the successful generation of optimalcollision-free paths is demonstrated.Previously developed modular architectures are combined and modified tocreate a UTV platform which meets all the requirements for implementationof navigational systems and path planning algorithms on board the platform.A two-dimensional kinematic state estimator is developed. This estimatormakes use of extended Kalman Filter theory to optimally combine measurementsfrom low cost sensors to yield the vehicle's state vector. Lateral guidancecontrollers are developed to utilize this estimated state vector in a feedbackcontrol configuration. The entire system is then successfully demonstratedwithin a simulation environment. Finally, practical results from twodays of test runs are provided in both written and interactive form

[发布机构] Stellenbosch University