High Speed Navigation of UGVs in Rough Unknown Terrains

atmire.migration.oldid1348
dc.contributor.advisorRamirez-Serrano, Alejandro
dc.contributor.authorWilson, Graeme Neff
dc.date.accessioned2013-09-12T16:07:43Z
dc.date.available2013-11-12T08:00:17Z
dc.date.issued2013-09-12
dc.date.submitted2013en
dc.description.abstractThe traversal of rough a priori unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not address the challenge of speed selection, or have not been experimentally tested. This thesis proposes a geometric terrain identification technique where a range sensor captures a 3D terrain point cloud and uses the standard deviation of the terrain point elevations to determine a roughness score. Using this roughness score three methods were proposed in this thesis to select a fast but safe allowable speed for a UGV based on predicting the force the terrain will exert on the UGV while driving. These methods were experimentally tested on rough outdoor terrain to demonstrate and compare their performance.en_US
dc.identifier.citationWilson, G. N. (2013). High Speed Navigation of UGVs in Rough Unknown Terrains (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/26369en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/26369
dc.identifier.urihttp://hdl.handle.net/11023/944
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectElectronics and Electrical
dc.subjectMechanical
dc.subjectRobotics
dc.subject.classificationUnmanned Ground Vehiclesen_US
dc.subject.classificationTerrain Assessmenten_US
dc.subject.classificationTerrain Identificaitonen_US
dc.subject.classificationSpeed Selectionen_US
dc.titleHigh Speed Navigation of UGVs in Rough Unknown Terrains
dc.typemaster thesis
thesis.degree.disciplineMechanical and Manufacturing Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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