Tesi etd-10292020-110743 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
PERRONE, JACOPO
URN
etd-10292020-110743
Titolo
Design and development of a 1:8 scale autonomous race car: machine vision and a first on-board SLAM implementation
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Gabiccini, Marco
relatore Prof. Caiti, Andrea
relatore Prof. Caiti, Andrea
Parole chiave
- machine vision
- on-board SLAM.
Data inizio appello
19/11/2020
Consultabilità
Non consultabile
Data di rilascio
19/11/2090
Riassunto
This thesis presents the algorithms and system architecture of an autonomous vehicle on a 1:8 scale.
The vehicle introduced is composed of a set of software designed for robustness and reliability. In order to be able to travel autonomously, perception, estimation and control are incorporated into a single self-driven vehicle system.
In this work the first step has been analyzed, in which the vehicle knows the limits of the track using vision algorithms, building a map and the trajectory to be followed by an autopilot control algorithm.
The vehicle introduced is composed of a set of software designed for robustness and reliability. In order to be able to travel autonomously, perception, estimation and control are incorporated into a single self-driven vehicle system.
In this work the first step has been analyzed, in which the vehicle knows the limits of the track using vision algorithms, building a map and the trajectory to be followed by an autopilot control algorithm.
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