Bumper(less) cars: advanced control and ROS implementation
In this work, several state-of-the-art methods for collision avoidance with robot ground vehi- cles are compared. An initial implementation of the algorithms is provided, working both in a Robotics Operating System 2 customized environment and a simulation made in a custom Python environment. First,...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/421305 |
| Acceso en línea: | https://hdl.handle.net/2117/421305 |
| Access Level: | acceso abierto |
| Palabra clave: | Automobile driving Automated vehicles--Design and construction Automòbils--Conducció Vehicles autònoms--Disseny i construcció Àrees temàtiques de la UPC::Enginyeria mecànica |
| Sumario: | In this work, several state-of-the-art methods for collision avoidance with robot ground vehi- cles are compared. An initial implementation of the algorithms is provided, working both in a Robotics Operating System 2 customized environment and a simulation made in a custom Python environment. First, the approach taken for the provided implementation is discussed and some possible changes are listed before bringing these algorithms to the simulation setup prepared by the laboratory. Once the algorithms are brought onto the simulation and run cor- rectly, a series of tests are run for several configurations. The best performing configuration is then brought to the real setup for verification. |
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