Independent thesis Advanced level (professional degree), 20 credits / 30 HE credits
This thesis deals with the problem of prototyping a vehicle, made up by a motorized body and two passive trailers using LOGO Mindstorms, and provide a hybrid control system supporting the driver while reversing the vehicle.
The goal of the hybrid system is to switch between different linear controllers, each designed for a specific purpose, to follow a generic path. The approach, when designing the hybrid system, is similar to Dubin’s car problem.
The prototype will be designed to perform as a stand-alone system and be controlled by its own computer.
Information about the instant condition of the vehicle is collected by means of a set of onboard sensors. Two angle sensors are used to measure the relative angles between the different parts of the structure, one rotation sensor is used to measure the steering wheel angle and two rotation sensors are used to transform the wheel’s revolution into orientation of a specific point of the vehicle.
The implementation of the controller consist in a java-program written on a host computer and then downloaded to a robotics command explorer (RCX), equipped with an input-output board that allows to generate the control signal and acquire data from sensors.
2004. , 60 p.