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Terrain sensor for semi active suspension in CV90
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.
2017 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The combat vehicle, CV90 has a semi-active hydraulic suspension system which uses inertial measurements for regulation to improve accessibility. To improve performance further measurements of future terrain can be used to, for example, prepare for impacts. This master's thesis investigates the ability to use existing sensors and new sensors to facilitate these measurements.

Two test runs were performed, with very different conditions and outcomes. The results seem to suggest that a sweeping LIDAR was the most accurate and robust solution. However, using a very recent visual odometry algorithm, promising results were achieved using an Infra-red heat camera. Especially given that no efforts were put into adjusting parameters for that particular algorithm.

Place, publisher, year, edition, pages
2017.
Keywords [en]
terrain sensor, cv90, slam, visual odometry, kinect, suspension, lidar, flir, lwir
National Category
Computer Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-64434OAI: oai:DiVA.org:ltu-64434DiVA, id: diva2:1114450
External cooperation
BAE Systems Hägglunds
Educational program
Computer Science and Engineering, master's level
Supervisors
Examiners
Available from: 2017-06-29 Created: 2017-06-23 Last updated: 2018-01-13Bibliographically approved

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CiteExportLink to record
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