Development of Real Time Self Driving Software for Wheeled Robot with UI based Navigation

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dc.contributor.authorKeshavamurthi, Karthik Balajien
dc.contributor.committeechairTaheri, Saieden
dc.contributor.committeememberFerris, John B.en
dc.contributor.committeememberSandu, Corinaen
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2022-02-18T07:00:07Zen
dc.date.available2022-02-18T07:00:07Zen
dc.date.issued2020-08-26en
dc.description.abstractAutonomous Vehicles are complex modular systems with various inter-dependent safety critical modules, the failure of which leads to failure of the overall system. The Localization system, which estimates the pose of the vehicle in the global coordinate frame with respect to a map, has a drift in error, when operated only based on data from proprioceptive sensors. Current solutions to the problem are computationally heavy SLAM algorithms. An alternate system is proposed in the thesis which eliminates the drift by resetting the global coordinate frame to the local frame at every motion planning update. The system replaces the mission planner with a user interface(UI) onto which the User provides local navigation inputs, thus eliminating the need for maintenance of a Global frame. The User Input is considered in the decision framework of the behavioral planner, which selects a safe and legal maneuver for the vehicle to follow. The path and trajectory planners generate a trajectory to accomplish the maneuver and the controller follows the trajectory until the next motion planning update. A prototype of the system has been built on a wheeled robot and tested for the feasibility of continuous operation in Autonomous Vehicles.en
dc.description.abstractgeneralAutonomous Vehicles are complex modular systems with various inter-dependent safety critical modules, the failure of which leads to failure of the overall system. One such module is the Localization system, that is responsible for estimating the pose of the vehicle in the global coordinate frame, with respect to a map. Based on the pose, the vehicle navigates to the goal waypoints, which are points in the global coordinate frame specified in the map by the route or mission planner of the planning module. The Localization system, however, consists of a drift in position error, due to poor GPS signals and high noise in the inertial sensors. This has been tackled by applying computationally heavy Simultaneous Localization and Mapping based methods, which identify landmarks in the environment at every time step and correct the vehicle position, based on the relative change in position of landmarks. An alternate solution is proposed in this thesis, which delegates navigation to the passenger. This system replaces the mission planner from the planning module with a User Interface onto which the passenger provides local Navigation input, which is followed by the vehicle. The system resets the global coordinate frame to the vehicle frame at every motion planning update, thus eliminating the error accumulated between the two updates. The system is also designed to perform default actions in the absence of user Navigation commands, to reduce the number of commands to be provided by the passenger in the journey towards the goal. A prototype of the system is built and tested for feasibility.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:27325en
dc.identifier.urihttp://hdl.handle.net/10919/108401en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectSLAMen
dc.subjectLocalizationen
dc.subjectMotion Planningen
dc.subjectPerceptionen
dc.subjectAutonomous Vehiclesen
dc.titleDevelopment of Real Time Self Driving Software for Wheeled Robot with UI based Navigationen
dc.typeThesisen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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