SYSTEM INTEGRATION OVER A CAN BUS FOR A SELF-CONTROLLED, LOW-COST AUTONOMOUS ALL-TERRAIN VEHICLE

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Erian, K. (2019). SYSTEM INTEGRATION OVER A CAN BUS FOR A SELF-CONTROLLED, LOW-COST AUTONOMOUS ALL-TERRAIN VEHICLE. Unc Charlotte Electronic Theses And Dissertations.
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Abstract

This thesis presents research for making an All-terrain Vehicle (ATV) autonomous. The objective of this research is to have a standardized platform for autonomous ATV modules having the basic controllers integrated and working. This research includes standardizing data collection modules and control modules, and integrating all of these functional modules in one working system. The work involved building new modules, enhancing existing modules, and using already working (and standardized) modules. This effort includes electronic hardware, software, and mechanical designs. The overall system consists of actuators modules including: a steering controller, a throttle controller, and a braking system. The system also contains various sensor modules including a GPS sensor and an IMU sensor. All modules are attached to a CAN Bus which is connected to a central controller. The system design and implementation was demonstrated by the vehicle autonomously driving in a straight line, in a circle, and in a figure ’8’ path.

Details
Author

Erian, Karim

Title

SYSTEM INTEGRATION OVER A CAN BUS FOR A SELF-CONTROLLED, LOW-COST AUTONOMOUS ALL-TERRAIN VEHICLE

Physical Description

1 online resource (85 pages) : PDF

Date

2019

Degree Granting Institution

University of North Carolina at Charlotte

Abstract

This thesis presents research for making an All-terrain Vehicle (ATV) autonomous. The objective of this research is to have a standardized platform for autonomous ATV modules having the basic controllers integrated and working. This research includes standardizing data collection modules and control modules, and integrating all of these functional modules in one working system. The work involved building new modules, enhancing existing modules, and using already working (and standardized) modules. This effort includes electronic hardware, software, and mechanical designs. The overall system consists of actuators modules including: a steering controller, a throttle controller, and a braking system. The system also contains various sensor modules including a GPS sensor and an IMU sensor. All modules are attached to a CAN Bus which is connected to a central controller. The system design and implementation was demonstrated by the vehicle autonomously driving in a straight line, in a circle, and in a figure ’8’ path.

Genre

masters theses

Subjects--Topics

Automobiles--Design and construction
Computer engineering
Robotics

Degree

M.S.

Keywords

All-Terrain Vehicle
Autonomous ATV
CAN Bus
Low-Cost Autonomous Vehicle
Self-Driven ATV
System Integration

Subject Area

Electrical Engineering

Advisor(s)

Conrad, James

Committee Members

Tabkhi, Hamed
Browne, Aidan

Degree Note

Thesis (M.S.)--University of North Carolina at Charlotte, 2019.

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Rights Holder Information

Copyright is held by the author unless otherwise indicated.

Identifier

Erian_uncc_0694N_12116

Permalink

http://hdl.handle.net/20.500.13093/etd:2594