Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Path Planning in Unstructured Environments: A Real-time Hybrid A* Implementation for Fast and Deterministic Path Generation for the KTH Research Concept Vehicle
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik. KTH, Skolan för industriell teknik och management (ITM), Centra, Integrated Transport Research Lab, ITRL.
2016 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

On the way to fully autonomously driving vehicles a multitude of challenges have to be overcome. One common problem is the navigation of the vehicle from a start pose to a goal pose in an environment that does not provide any specic structure (no preferred ways of movement). Typical examples of such environments are parking lots or construction sites; in these scenarios the vehicle needs to navigate safely around obstacles ideally using the optimal (with regard to a specied parameter) path between the start and the goal pose. The work conducted throughout this master's thesis focuses on the development of a suitable path planning algorithm for the Research Concept Vehicle (RCV) of the Integrated Transport Research Lab (ITRL) at KTH Royal Institute of Technology, in Stockholm, Sweden. The development of the path planner requires more than just the pure algorithm, as the code needs to be tested and respective results evaluated. In addition, the resulting algorithm needs to be wrapped in a way that it can be deployed easily and interfaced with di erent other systems on the research vehicle. Thus the thesis also tries to gives insights into ways of achieving realtime capabilities necessary for experimental testing as well as on how to setup a visualization environment for simulation and debugging.

sted, utgiver, år, opplag, sider
2016. , s. 63
Serie
TRITA-AVE, ISSN 1651-7660 ; 2016:41
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-198534OAI: oai:DiVA.org:kth-198534DiVA, id: diva2:1057261
Examiner
Tilgjengelig fra: 2016-12-16 Laget: 2016-12-16 Sist oppdatert: 2017-03-17bibliografisk kontrollert

Open Access i DiVA

fulltext(3650 kB)1404 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 3650 kBChecksum SHA-512
d09ecb58da1e6b3b3dd786b97b26d42d664b28b34692c01a20627d1e4191fb6bba70868485b4e3c3690d0f7f1e4ea18c3b6905756227c68ad19d6e3665f8931e
Type fulltextMimetype application/pdf

Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 1404 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 8152 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf