Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design och Implementering av en IntuitivKontrollmetod för Larvbandsdrivna UGV:er
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2011 (Swedish)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Design and Implementation of an IntuitiveControl Method for Tracked UGVs (English)
Abstract [sv]

SammanfattningDenna uppsats beskriver design och implementering av en mer effektiv metod att styrakameraförsedda radiostyrda markfordon (UGV av engelskans Unmanned GroundVehicle). Det åstadkoms genom att införa samma kontroller som är vanliga i actionspel iförsta persons perspektiv, så kallat Free Look Control (FLC). Miljontals spelare kommeratt känna igen och vara bekväma med styrprincipen, vilket borde reducera dengenomsnittliga träningstiden samt förbättra prestationsförmågan. FLC gör det möjligt föroperatören att kontrollera kamerans läge direkt istället för via fordonet den sitter på.Detta görs genom att i mjukvara sammankoppla fordonets och kamerans rörelser.Utöver författandet av denna uppsats byggs en fungerande UGV-prototyp som kanstyras enligt både FLC och dagens standard, Tank Control (TC). Detta gör det lätt attdemonstrera skillnader mellan metoderna.Arbetet utförs åt institutionen Flyg- och systemteknik inom FOI, Totalförsvaretsforskningsinstitut, för att demonstrera och marknadsföra konceptet att använda FLC förstyrning av obemannade markfordon.Nyckelord: Odometri, Kalman filter, UGV, Unmanned Ground Vehicle, obemannademarkfordon, FLC, Free Look Control, FPS, First Person Shooter, fjärrstyrning.

Abstract [en]

AbstractThis report describes the design and implementation of a more efficient way ofcontrolling teleoperated camera-equipped Unmanned Ground Vehicles (UGVs). Bycoupling the camera rotation to the vehicle track motion a so-called Free Look Control(FLC) interface is created that allows the operator to maneuver the camera directly,rather than through the body the camera is attached to. Millions of players of FirstPerson Shooter video games will be familiar with these controls, which should reducethe average training time and improve UGV motion accuracy.In addition to the report, a fully functional prototype is built. With the ability to becontrolled using both FLC and the current standard, Tank Control (TC), it easilydemonstrates the differences between the two.This project is commissioned by the department of Aeronautics and systems integrationat FOI in order to demonstrate and market the concept of using FLC in UGVs.Keywords: Odometry, Kalman filter, UGV, Unmanned Ground Vehicle, FLC, Free LookControl, FPS, First Person Shooter, teleoperation.

Place, publisher, year, edition, pages
2011. , 77 p.
Series
MMK 2011:26 MDA 396
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-40277OAI: oai:DiVA.org:kth-40277DiVA: diva2:440869
Uppsok
Technology
Supervisors
Examiners
Available from: 2011-11-28 Created: 2011-09-14 Last updated: 2011-11-28Bibliographically approved

Open Access in DiVA

fulltext(3477 kB)710 downloads
File information
File name FULLTEXT01.pdfFile size 3477 kBChecksum SHA-512
622deb3392aecf5ae1e74433a5d9eb76099f5e30a57d1f7007ae3a4722f042de16f6e3def54691ae64377bbf6743af0a681ab9ada0b723f1ce5f4a38a330f8d8
Type fulltextMimetype application/pdf

By organisation
Machine Design (Dept.)
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 710 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 108 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf