Collision Avoidance and Simple Path Planning for Autonomous Robotic Exploration
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This thesis proposes a collision avoidance and state estimation algorithm augmented by simple path planning to maneuver and avoid obstacles. This system is planned to act as a final and worst-case obstacle avoidance layer for a system of multi-agent autonomous robots on an exploration mission in an unknown territory/environment.The system is to be implemented as a proposed novel intermediate layer to free higher software layers responsible for environment mapping and path planning from the critical obstacle avoidance and drift suppression tasks. For the purpose of experimentation and algorithm verification, Quadrotor Unmanned Aerial Vehicles (UAV’s) are used due to their maneuverability. The sensors used in this investigation are onboard-mounted Ultrasonic range sensors in addition to the stock Inertial Measurement Unit.Simulation results and future experimentation tests are presented and discussed as well as applications for terrestrial exploration are discussed in future work.
Place, publisher, year, edition, pages
2014. , 63 p.
Technology, Robots, swarm, exploration, collision avoidance, navigation
IdentifiersURN: urn:nbn:se:ltu:diva-44719Local ID: 27b9dfba-a291-413d-85e8-62d3aaba7439OAI: oai:DiVA.org:ltu-44719DiVA: diva2:1017998
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Validerat; 20141120 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved