CBL - Campus del Baix Llobregat

Projecte llegit

Títol: Sistema Piloto Lidar de Navegación Vehicular Autónoma en Interiores

Estudiants que han llegit aquest projecte:

Director/a: JOFRE ROCA, LUIS

Departament: TSC

Títol: Sistema Piloto Lidar de Navegación Vehicular Autónoma en Interiores

Data inici oferta: 16-12-2022     Data finalització oferta: 16-07-2023


Estudis d'assignació del projecte:
    GR ENG SIS TELECOMUN
Tipus: Individual
 
Lloc de realització: EETAC
 
Paraules clau:
Lidar, navegación autónoma, plataforma vehicular, Arduino
 
Descripció del contingut i pla d'activitats:
El objetivo principal del trabajo es recoger la información
necesaria para poder diseñar e implementar un sistema piloto
LiDAR de navegación autónomo con un láser de baja potencia y
corto alcance basado en ToF y montado sobre una plataforma móvil
que sea capaz de medir distancias, hacer un mapeo del espacio en
el que se encuentra y mediante los datos que se obtengan, evitar
los objetos que se crucen en la trayectoria del robot y escoger
el camino más adecuado. Para dicha implementación serán
necesarios un sistema líder de baja potencia y coste, una
plataforma compacta móvil y una placa programadora (p.e.
Arduino), que será la encargada de procesar los datos obtenidos
por el láser y guiar el sistema de navegación.
 
Overview (resum en anglès):
The objective of this project is the design and implementation of a scale model of a self-drived vehicle equipped with an initial autonomous navigation system based on a LiDAR sensor. The vehicle should be capable of operating in an environment with obstacles, which the system will be able to avoid.

The project includes the following components:

- Study and classification of the applications of LiDAR technology.
- Examination of existing techniques used in distance measurement by LiDAR sensors.
-The design and assembly process of a robotic vehicle prototype capable of collecting data in an indoor environment using a LiDAR sensor.
-The development of an algorithm that provides it with autonomy to be able to detect object and redirect its path.

The system consists of different subsystems:

- Data Collection subsystem: This system utilizes LiDAR for collecting the necessary information to detect objects in the vehicle's surroundings.
- Vehicle control subsystem: This system utilizes the Arduino ONE board to manage the collected information and facilitate communication between the different subsystems.
- Motion subsystem: This system includes the mobile structure, DC engines and controllers for these DC engines. The mobile structure model uses four wheels that are driven by DC engines for the movement of the autonomous vehicle.
- Power subsystem This system includes a rechargeable battery and batteries to power the LiDAR, Arduino, mobile structure, DC motors, and their drivers.
-Development subsystem: Formatted by the computer. Displays the data collected by LiDAR via UART connection on the screen. It serves as the subsystem for programming the actions to be performed by the other systems.

The vehicle assembly has been developed modularly in a laboratory. The project outlines the phases of progress and the testing conducted on the prototype.

The project utilized the Arduino IDE development environment, an open-source platform that enables programming of various functions, such as a trajectory calculation algorithm for the vehicle's autonomous decision-making task.

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