Date of Award

6-9-2015

Document Type

Thesis

Publisher

Santa Clara : Santa Clara University, 2015.

Departments

Mechanical Engineering; Computer Engineering; Electrical Engineering

First Advisor

Christopher Kitts

Second Advisor

Samiha Mourad

Abstract

Autonomous vehicles are useful for a variety of applications such as military, urban, and agricultural environments. This paper discusses adding an autonomous navigation system to an all-terrain vehicle by implementing controllers that interface with its current system, installing sensors on the vehicle for obstacle detection, and developing effective safety mechanisms to prevent injury to others. The result is a vehicle capable of waypoint navigation and obstacle avoidance. Testing the vehicle showed that the LIDAR and the autonomous navigation system were integrated seamlessly, and that the sensor output signals were successfully translated into vehicle commands the existing system uses. This system could be improved with further tuning of the PID controller to prevent a large deviation from the defined path. The LIDAR could also be programmed to allow the vehicle to navigate around the obstacle instead of stopping in front of it.

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