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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Detalles Bibliográficos
Autor: Albardaner Torras, Jaume
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
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spelling Bumper(less) cars: advanced control and ROS implementationAlbardaner Torras, JaumeAutomobile drivingAutomated vehicles--Design and constructionAutomòbils--ConduccióVehicles autònoms--Disseny i construccióÀrees temàtiques de la UPC::Enginyeria mecànicaIn 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.OutgoingUniversitat Politècnica de CatalunyaSantamaria Navarro, ÀngelFerrari Trecate, Giancarlo20242024-07-0120252025-01-07master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/421305reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4213052026-05-27T15:37:01Z
dc.title.none.fl_str_mv Bumper(less) cars: advanced control and ROS implementation
title Bumper(less) cars: advanced control and ROS implementation
spellingShingle Bumper(less) cars: advanced control and ROS implementation
Albardaner Torras, Jaume
Automobile driving
Automated vehicles--Design and construction
Automòbils--Conducció
Vehicles autònoms--Disseny i construcció
Àrees temàtiques de la UPC::Enginyeria mecànica
title_short Bumper(less) cars: advanced control and ROS implementation
title_full Bumper(less) cars: advanced control and ROS implementation
title_fullStr Bumper(less) cars: advanced control and ROS implementation
title_full_unstemmed Bumper(less) cars: advanced control and ROS implementation
title_sort Bumper(less) cars: advanced control and ROS implementation
dc.creator.none.fl_str_mv Albardaner Torras, Jaume
author Albardaner Torras, Jaume
author_facet Albardaner Torras, Jaume
author_role author
dc.contributor.none.fl_str_mv Santamaria Navarro, Àngel
Ferrari Trecate, Giancarlo
dc.subject.none.fl_str_mv Automobile driving
Automated vehicles--Design and construction
Automòbils--Conducció
Vehicles autònoms--Disseny i construcció
Àrees temàtiques de la UPC::Enginyeria mecànica
topic Automobile driving
Automated vehicles--Design and construction
Automòbils--Conducció
Vehicles autònoms--Disseny i construcció
Àrees temàtiques de la UPC::Enginyeria mecànica
description 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.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-07-01
2025
2025-01-07
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/421305
url https://hdl.handle.net/2117/421305
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812455

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