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Estimation techniques, to the odometric problem of an autonomous vehicle (BAT-MOB).

Mohamad Al Zamel

Estimation techniques, to the odometric problem of an autonomous vehicle (BAT-MOB).

Rel. Stefano Mauro. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2021

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Abstract:

The thesis was inside the development program of BAT-MAN projects. The project scope is to apply estimation techniques, developed during previous BAT-MAN projects, to the odometric problem of an autonomous vehicle (BAT-MOB). In details, the activities and the studies have been performed are: - Extension of like-ERMES algorithm to odometry: statement of the problem; - Develop a simple dynamic/kinetic model of the vehicle in MATLAB/SIMULINK; - Apply the solution in a virtual environment (MATLAB/SIMULINK); - Implement the solution using a small vehicle prototype already available; - Testing and data analysis. the result was a data analysis among different profiles using the filter needed to get a perfect robot posture in order to achieve the destination and the goal . so an analysis of friction and wheatear changes have been studied by modifying and tuning some data in MATLAB script

Relators: Stefano Mauro
Academic year: 2020/21
Publication type: Electronic
Number of Pages: 36
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: Brain technologies
URI: http://webthesis.biblio.polito.it/id/eprint/20681
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