Graduation Semester and Year

2009

Language

English

Document Type

Thesis

Degree Name

Master of Science in Electrical Engineering

Department

Electrical Engineering

First Advisor

Stephen R. Gibbs

Abstract

This thesis presents the implementation of a novel distributed embedded systems approach to real-time obstacle avoidance and guidance for an Unmanned Ground Vehicle (UGV). The mobility, real-time, and limited size requirements of UGVs, result in computationally limited and resource constrained hardware platform. The use of distributed computational resources, such as multiple embedded micro-controllers, enables the distribution of the computing resources for obstacle avoidance and guidance system functionalities. The resulting system's complexity is significantly greater than that of a single high performance processor performing all of the above functions. The hardware platform is integrated with sensors and micro-controllers to function as the real-time obstacle avoidance and guidance system for a UGV. The sensors include: a GPS receiver, a digital compass, rotary encoders, and a scanning laser range finder. All sensors have been calibrated and characterized for accuracy and reliability. The obstacle avoidance and guidance functionality executes on MPC555 micro-controller. The data strings from the sensors are parsed on IsoPod, PlugaPod micro-controllers. The required sensor data are passed over to the MPC555 over CAN network as part of a distributed computing architecture. A simulation model consisting of the guidance and navigation algorithm along with the tank model was developed. The simulation model performs obstacle avoidance and waypoint navigation successfully. A real-time model to perform obstacle avoidance and waypoint navigation was developed. The real-time model takes inputs as sensor data, constructs a dynamic map of the environment and outputs control signals to navigate the vehicle through obstacles and towards waypoints. The real-time system successfully performs waypoint navigation. The real-time systems constructs an inaccurate local map in real-time environment. An accurate local map is successfully constructed in simulation from the real world data. Due to the erroneous map constructed in real-time, the real-time system does not successfully navigate through the obstacles.

Disciplines

Electrical and Computer Engineering | Engineering

Comments

Degree granted by The University of Texas at Arlington

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