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AutoTruck: Automated docking with internal sensors
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2018 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

The purpose of this bachelor thesis was to discover how an articulated vehicle can park itself using a pre-defined parking path with a combination of ultrasonic sensors as well as a rotary angle sensor.

The project was divided into two parts: constructing a small scale demonstrator and the software controlling the demonstrator. The demonstrator was constructed from offthe- shelf components and custom parts. The truck was designed based on a rear wheel driven truck with Ackermann steering. The localization of a parking spot and measuring other distances was done with ultrasonic sensors and the hitch angle was measured by a rotary angle sensor.

The performance of the demonstrator was evaluated by measuring the trailers angle difference from the center line of the parking spot.

The performance was deemed to be reasonably good with successful parkings in 8 out of 10 attempts.

Abstract [sv]

Kandidatarbetet syftar till att undersöka hur ett ledat fordon kan parkera sig självt efter en förbestämd parkeringsrutt med en kombination av flera ultraljudssensorer samt en vinkelgivare.

Projektet består av två delar; konstruktion av ett miniatyrfordon samt mjukvaran som styr fordonet. Fordonet tillverkades från butiksköpta komponenter och skräddarsydda delar. Lastbilens design var baserad på en bakhjulsdriven Ackermannstyrd lastbil. Identifieringen av en parkeringsplats samt avståndsmätning hanterades av ultraljudssensorer och hitch vinkeln mättes av en vinkelgivare.

Miniatyrfordonets prestanda utvärderades genom att mäta släpets vinkelskillnad från centerlinjen av parkeringsplatsen.

Prestandan ansågs att vara tillräckligt god med lyckade parkeringar i 8 av 10 tester.

Place, publisher, year, edition, pages
2018. , p. 38
Series
TRITA-ITM-EX 2018 ; 69
Keywords [en]
Mechatronics, Trailer, Truck, Articulated vehicle, Self driving
Keywords [sv]
Mekatronik, Trailer, Lastbil, Ledat fordon, Självkörande
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-233142OAI: oai:DiVA.org:kth-233142DiVA, id: diva2:1237811
Subject / course
Mechatronics
Supervisors
Examiners
Available from: 2018-08-10 Created: 2018-08-10 Last updated: 2018-08-10Bibliographically approved

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