Design of autonomous land vehicle

• Main Author: Liu, Dikai
• Other Authors: Xie Ming
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/75775
• Institution: Nanyang Technological University

This report is the final report of the Final Year Project A081 Design of Au- tonomous Land Vehicle of School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore. In this project, an autonomous land vehicle is designed with input capabilities, processing capabilities, output capabilities and communication capabilities. Especially, this vehicle is designed to serve as an Urban Search and Rescue (USAR) robot after earthquake and will be put in test for RoboCup Rescue Robot League competition. The robot is equipped with one pair of triangular tracked wheels, one pair of flipper tracked wheels and a mechanical arm to explore and interact with the disaster environment. Equipped with an embedded AI computing device and a mini PC, the robot is designed to have fully autonomous control capability with the support of rich environment data from stereo camera, LiDAR, IMU and other sensors. The robot can be accessed by WiFi from any portable smart device, like laptops and smart phones. With the connection, the robot state can be monitored and the user’s command can be sent to the robot. To achieve autonomous navigation capability, 2D and 3D map will be generated with SLAM and the data will be used for path planning and object detection and recolonization in real time.