Text in English ; Abstract: English and Turkish ; Includes bibliographical references (leaves 56-60) ; xi, 59 leaves ; TOTAY:Tekerlekli Otonom Araba Yarışları. Supported by the Işık University Scientific Research Projects Fund, BAP. ; This study investigates transforming a remote controlled vehicle into an au»tonomous vehicle which explores the environment and is able to find its own location in this unknown static indoor environment. It also constructs the map of this environment simultaneously. The study consists of mainly three parts which are (i) the hardware of autonomous vehicle; (ii) while exploring the envi»ronment furnished with landmarks to detect the landmarks, and to control the vehicle so that it can move towards these landmarks and/or it can avoid them; (iii) once having the ability of moving in the environment safely, locating it- self and constructing the map of environment. The hardware of the vehicle has mostly designed and installed by Robotics and Autonomous Vehicles Laboratory (RAVLAB) members as it is a part of one of the RAVLAB's projects . Moving safely in an unknown environment is a requirement for the car to locate itself and to extract the map of the environment, which are known as localization and map- ping problems respectively. While traveling, at every time step, the car estimates its new position by computing the displacement using its instantaneous speed value. The positions of landmarks in its visible area are also estimated. However, real positions of both the car and the landmarks are usually different then the estimated ones because of several factors including sensor noises, car's voltage regulations ete. We have performed a series of experiments in laboratory . The first set of experiments focused on making the vehicle to navigate towards the elosest object. Second set of experiments focused on making the vehicle to stop in the presence of an object in front of the car. Finally, simultaneous localiza»tion and mapping the environment of the car has been tested. The ...
Navigation of autonomous vehicle in indoor environment ; Otonom aracın kapalı alanda dolaşması
2011-01-01
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |