Návrh senzorů a akčních členů zmenšeného modelu autonomního vozidla

Abstract

Práce se zabývá výběrem senzorů a akčních členů pro model autonomního vozidla. Senzory jsou namontované na 3D tištěných dílech. Model vozidla je řízený deskou Arduino, která signály ze senzorů zpracovává a ovládá řízení motoru předních kol. Jako senzory byl vybrán Lidar a ultrazvukové senzory. Je ukázán autonomné průjezd bludištěm.

This thesis is based on the research of the technology of sensors and the experimentation with sensors and actuators for building a model of an autonomous car. Sensors are selected and mounted on a small car model by holders which are designed and 3D printed. They are then connected to a microcontroller board. The next step is programming the board to read inputs from the sensors and send signals to trigger the actuators depending on the condition and algorithm defined. As a result, the autonomous system needs to sense the environment, determine the exact position on the road, and decide how it should behave in a given situation. Thus, combining sensor physics and the mechanical actuation of the vehicle by a software. The last part focuses on testing the built model inside a maze and documenting the results in terms of charts showing the detection done by the sensors and their effect on the movement of the car. In the end a conclusion is made based on the work done in the project and the results obtained, in addition to an overview of future improvements and possibilities of producing a fully autonomous vehicle for consumers.