TABLE OF CONTENTS
Section
 
Page
 
 
 
 
 
 
 
ii
 
iii
 
iv
 
v
 
xix
 
xx
Introduction
1
The Case for Simulation
10
Identification of Simulation Targets
29
General Simulation Procedure
33
General Configuration Practices and Procedures
37
Improved Controller Implementation
46
Evaluation of 2004 GCE Course Segment 2570-2571-2572
61
Evaluation of the Use of LIDAR
67
Evaluation of Field-of-View Limitations
80
Overall Conclusions
82
Future Research
86
Research Methodology
115
Development of the Installation Procedure
146
Installation Procedure
202
Verification of the Installation Procedure
207
Improved Steering Controller and Wheel
212
Example Output Produced During Controller Validation
230
Example World File and Model File Used During Evaluation of 2004 GCE Course Segment 2570-2571-2572
233
Miscellaneous Problems Encountered
243
 
264
 
275
LIST OF TABLES
Number
 
Page
I
Approximate simulation time at which rollover occurs at velocity offset.
56
II
Results of the evaluation of the use of LIDAR.
75
Team reference numbers.
126
LIST OF FIGURES
Number
 
Page
1
Approximate simulation time at which rollover occurs versus velocity offset.
57
2
Example image saved by Gazebo.
128
3
Team 2005-06 challenge vehicle.
129
4
Model of the representative challenge vehicle.
130
5
Tower obstacle (DARPA description).
131
6
Tower obstacle (Gazebo model).
132
7
Car obstacle (DARPA description).
133
8
Car obstacle (Gazebo model).
134
9
2004 GCE course superimposed on map and satellite view (Powerline Road 1).
135
10
2004 GCE course superimposed on map and satellite view (Powerline Road 2).
136
11
Vertically-aligned LIDAR sensor configuration.
137
12
Horizontally-aligned LIDAR sensor configuration (overhead view).
138
13
Horizontally-aligned LIDAR sensor configuration (driver's seat view).
139
14
Horizontally-aligned LIDAR sensor configuration with a down angle of 4 degrees (overhead view).
140
15
Diagonally-aligned LIDAR sensor configuration (overhead view).
141
16
Diagonally-aligned LIDAR sensor configuration (driver's seat view).
142
17
Epsilon Lambda ELSC71-1A RADAR field-of-view limitation (simulation initial state).
143
18
Epsilon Lambda ELSC71-1A RADAR field-of-view limitation (showing the sensor cannot detect an obstacle in the path of travel).
144
19
Epsilon Lambda ELSC71-1A RADAR field-of-view limitation (after collision with the tower obstacle).
145

Last updated: Tuesday, 16 November, 2010

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