High Speed Navigation of UGVs in Rough Unknown Terrains |
Posted on:2014-09-03 | Degree:M.Sc | Type:Thesis |
University:University of Calgary (Canada) | Candidate:Wilson, Graeme Neff | Full Text:PDF |
GTID:2452390005994809 | Subject:Engineering |
Abstract/Summary: | |
The traversal of rough a priori unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not address the challenge of speed selection, or have not been experimentally tested.;This thesis proposes a geometric terrain identification technique where a range sensor captures a 3D terrain point cloud and uses the standard deviation of the terrain point elevations to determine a roughness score. Using this roughness score three methods were proposed in this thesis to select a fast but safe allowable speed for a UGV based on predicting the force the terrain will exert on the UGV while driving. These methods were experimentally tested on rough outdoor terrain to demonstrate and compare their performance. |
Keywords/Search Tags: | Terrain, Experimentally tested, Engineering |
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