Rohan Kumar, Sabat and Anshu J, Behera (2012) Automated steering design using Neural Network. BTech thesis.
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Abstract
If you don't move forward-you begin to move backward.
Technological advancement today has brought us to a frontier where the human has become the basic constraint in our ascent towards safer and faster transportation. Human error is mostly responsible for many road traffic accidents which every year take the lives of lots of people and injure many more. Driving protection is thus a major concern leading to research in autonomous driving systems.
Automatic motion planning and navigation is the primary task of an automated guided vehicle or mobile robots. All such navigation systems consist of a data collection system, a decision making system and a hardware control system. In this research our artificial intelligence system is based on neural network model for navigation of an AGV in unpredictable and imprecise environment. A five layered with gradient descent momentum back-propagation system which uses heading angle and obstacle distances as input.
The networks are trained by real data obtained from vehicle tracking live test runs. Considering the high amount of risk of testing the vehicle in real space-time conditions, it would initially be tested in simulated environment with the use of MATLAB®. The hardware control for an AGV should be robust and precise. An Aerial and a Grounded prototype were developed to test our neural network model in real time situation.
Technological advancement today has brought us to a frontier where the human has become the basic constraint in our ascent towards safer and faster transportation. Human error is mostly responsible for many road traffic accidents which every year take the lives of lots of people and injure many more. Driving protection is thus a major concern leading to research in autonomous driving systems.
Automatic motion planning and navigation is the primary task of an automated guided vehicle or mobile robots. All such navigation systems consist of a data collection system, a decision making system and a hardware control system. In this research our artificial intelligence system is based on neural network model for navigation of an AGV in unpredictable and imprecise environment. A five layered with gradient descent momentum back-propagation system which uses heading angle and obstacle distances as input.
The networks are trained by real data obtained from vehicle tracking live test runs. Considering the high amount of risk of testing the vehicle in real space-time conditions, it would initially be tested in simulated environment with the use of MATLAB®. The hardware control for an AGV should be robust and precise. An Aerial and a Grounded prototype were developed to test our neural network model in real time situation.
| Item Type: | Thesis (BTech) |
|---|---|
| Uncontrolled Keywords: | Neural Network, Automated Guided Vehicle, Navigation Control, Electronic Speed Controller, Altitude Flight Stabilization System |
| Subjects: | Engineering and Technology > Mechanical Engineering > Mechatronics |
| Divisions: | Engineering and Technology > Department of Mechanical Engineering |
| ID Code: | 3384 |
| Deposited By: | Mr Rohan Kumar Sabat |
| Deposited On: | 21 May 2012 16:03 |
| Last Modified: | 21 May 2012 16:03 |
| Supervisor(s): | Parhi, D R |
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