Upravljanje autonomnim parkiranjem vozila zasnovano na leddar senzorima

undergraduate thesis

• Title (english): Autonomous vehicle parking control based on Leddar sensors
• Author: Kristian Kapetanović
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Autonomno parkiranje vozila je jedan od problema kojime se bave mnogi inžinjeri raznih proizvođača vozila. Potencijalno rješenje predstavlja korištenje senzora za udaljenost. Leddar senzori tvrtke LeddarTech predstavljaju pomak u industriji zbog svoje preciznosti i pristupačne cijene te su jedan od potencijalnih kandidata za senzore koji će se koristiti za autonomno parkiranje vozila.

Cilj rada je osmisliti čvor u ROS-u, koji će primiti poziciju slobodnog mjesta na privremenoj karti, s algoritmom koji će proračunavati kutnu i linearnu brzinu kako bi se vozilo u simulaciji kretalo određenom putanjom i uspješno parkiralo na slobodno parkirno mjesto. Prije samog parkiranja je potrebno stvoriti privremenu mapu korištenjem već gotovog gmapping paketa za ROS i algoritmom iz završnog rada na temu Izgradnja kratkoročne karte Leddar senzorima za autonomno parkiranje vozila.

Abstract (english)

Autonomous vehicle parking is one of many problems worked on by a large number of engineers from different vehicle manufacturers. A potential solution appears in the use of proximity sensors. Leddar sensors, made by a company called LedarTech, represent a step forward in the industry of sensors because of their accuracy and affordable price. Those characteristics make them one of potential candidates for proximity sensors used in autonomous vehicle parking.

The goal of this thesis is to create a ROS node which will subscribe to a message containing coordinates of a vacant parking spot and calculate the linear and angular velocity necessary for a particular path in order to park the vehicle. Before the act of parking the vehicle, it is necessary to create a temporary map using the gmapping ROS package and using the algorithm created as a part of another thesis called Building a short term map using Leddar sensors.

• Keywords: Leddar; autonomna vozila; ROS; autonomno parkiranje
• Keywords (english): Leddar; autonomous vehicles; ROS; autonomous parking
• Language: croatian
• URN:NBN: urn:nbn:hr:168:246012
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 21:25:54