Thesis etd-10292020-110743 |
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Thesis type
Tesi di laurea magistrale
Author
PERRONE, JACOPO
URN
etd-10292020-110743
Thesis title
Design and development of a 1:8 scale autonomous race car: machine vision and a first on-board SLAM implementation
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Gabiccini, Marco
relatore Prof. Caiti, Andrea
relatore Prof. Caiti, Andrea
Keywords
- machine vision
- on-board SLAM.
Graduation session start date
19/11/2020
Availability
Withheld
Release date
19/11/2090
Summary
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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