Details

STUDY AND IMPLEMENTATION OF 'FOLLOW THE LEADER'

by CHANDAK, PRAVIN B.

Abstract (Summary)
Autonomous robots with mobile capability are finding lot of applications in manufacturing, medicine, space and defense. Technology for autonomous vehicles is a very active field right now. The University of Cincinnati’s Bearcat robot is a test bed for research in various technologies related to autonomous vehicle navigation. One of the challenges is to steer the robot autonomously to follow a moving vehicle over an unmapped area at a specified distance. A single rotating sonar sensor is used with a restricted angle of sweep to obtain readings to develop a range map to plan an unobstructed path for an autonomous guided vehicle. The new rotating sonar system is certainly an improvement over the old stationary system in terms of better obstacle avoidance as well as reduced use of resources. Tuning of the motor and the installation of a new gearbox has helped in achieving better results. The laser further improves the object detection by providing us with more accurate data, larger range and the exact profile of the object. The new algorithm for follow the leader uses a laser scanner, extending and improving the rotating sonar logic. The data from the laser scanner/sensor and the vehicle position are used as input variables. The outputs are the new curvature and velocity of the robot in order to follow the leader. Autonomous transportation is one of the ways in which vehicle technology is developing. Intelligent Transportation Systems (ITS) which involve communication between vehicle and the road are the next step in automobile future. The development of automatic collision avoidance systems is improving the safety levels on highway by reducing number of accidents and at the same time making driving easier. These systems draw ideas from the follow the leader concept in their development.
Bibliographical Information:

Advisor:

School:University of Cincinnati

School Location:USA - Ohio

Source Type:Master's Thesis

Keywords:automated guided vehicle path planning follow the leader robotics sonar sensor

ISBN:

Date of Publication:01/01/2002

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