本文为澳大利亚悉尼大学（作者：Matthew J. Barton）的学士论文，共153页。
由于自主式地面车辆（ALV）在采矿和国防等领域的巨大潜在应用，目前已成为全世界机器人机构的研究热点。通常在复杂或先前未知环境中提供可靠导航的控制系统是任何ALV实现的核心需求。实现这种自主式系统的三个关键方面是：1）路径规划，2）避障，3）路径跟踪。
本篇论文的工作是基于ACFR的ALV项目——“高速车辆项目”，以此为背景解决了以上三个重要的移动机器人问题。因此，既研究发展了理论概念和实际组件，又实现了这种系统的初步全功能特性。该系统在ACFR(ute)测试车辆上实现，允许沿着用户输入轨迹行驶，同时避开沿路径检测到任何障碍。
Autonomous Land Vehicles(ALVs), due to their considerable potential applications in areas such asmining and defence, are currently the focus of intense research at roboticsinstitutes worldwide. Control systems that provide reliable navigation, often incomplex or previously unknown environments, is a core requirement of any ALV implementation.Three key aspects for the provision of such autonomous systems are: 1) path planning,2) obstacle avoidance, and 3) path following. The work presented in thisthesis, under the general umbrella of the ACFR’s own ALV project, the ‘HighSpeed Vehicle Project’, addresses these three mobile robot competencies in thecontext of an ALV based system. As such, it develops both the theoreticalconcepts and the practical components to realise an initial, fully functional implementationof such a system. This system, which is implemented on the ACFR’s (ute) testvehicle, allows the user to enter a trajectory and follow it, while avoiding anydetected obstacles along the path.
1 引言
2 路径规划
3 避障
4 路径跟踪
5 系统实现与性能评估
6 结论
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