Allione, Cristian A. (2021) Desarrollo a escala de un algoritmo de centrado de carril para vehículos autónomos / Development of lane centering algorithm applied to autonomous scaled vehicles. Proyecto Integrador Ingeniería Mecánica, Universidad Nacional de Cuyo, Instituto Balseiro.
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| PDF (Tesis) Español 9Mb |
Resumen en español
En los últimos años se ha incrementado el interés por la investigación, desarrollo y validación de tecnologías de manejo autónomo en automóviles tanto en el mundo académico como industrial. Este trabajo, enmarcado dentro de un proyecto integrador de la carrera de grado de Ingeniera Mecánica, presenta el diseño e implementación de un sistema de centrado autónomo de carril o \Lane Centering" sobre un vehículo a escala 1:10. El sistema es complementado con un control de velocidad y ambos funcionan en base a procesamiento de imágenes implementado sobre una placa Raspberry PI3. La plataforma propuesta fue fabricada por manufactura aditiva, de fácil ensamblaje y compuesta por componentes electrónicos económicos y estándares. Se recreo la dinámica de la plataforma y componentes en un ambiente simulado, lo cual permitió desarrollar código Software in the Loop de manera mas rápida y sencilla previo a implementarlo definitivamente sobre el prototipo real. Para las simulaciones se empleo el software CoppeliaSim. El desempeño de las capacidades de manejo autónomo de la plataforma y su similitud con los resultados de simulación fueron finalmente validados sobre una pista de pruebas montada en ambiente interior.
Resumen en inglés
Autonomous cars have gained popularity in both academic and industrial environments in last years. This work, framed within Mechanical Engineering integrative project, is about the design and implementation of an autonomous lane centering system applied to an scale low-cost platform. It is complemented with a velocity control system and both autonomous capabilities work based on image processing. The processing board is a Raspeberry PI3. Scaled platform is constructed by fused deposition modeling and results in easy assemble. It is composed of standardized and aordable electronic components. Platform and components were recreated in a simulated environment, that turns easier and faster the code developing previous to real platform implementation. CoppeliaSim was the software employed for software-in-the-loop simulations. Finally, both autonomous capabilities performance as well as similarities between real and simulated results were validated by means of a in-door proposed test road.
| Tipo de objeto: | Tesis (Proyecto Integrador Ingeniería Mecánica) |
|---|---|
| Palabras Clave: | Image processing; Tratamiento de imágenes; Simulation; Simulación; Vehicles; Vehículos; [Autonomous driving; Manejo autónomo; Lane centering; Software in the loop; Software en el circuito; Scaled platform; Plataforma a escala; CoppeliaSim ] |
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| Materias: | Ingeniería mecánica > Robótica |
| Divisiones: | Gcia. de área de Energía Nuclear > Gcia. de Ingeniería Nuclear > Termohidráulica |
| Código ID: | 1021 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 05 May 2022 15:06 |
| Última Modificación: | 05 May 2022 15:06 |
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