Mechatronics - Development of a Specialized Navigation Stack for Autonomous Articulated Vehicles

Introduction:

Autonomous operation of articulated vehicles, such as wheel loaders, poses unique challenges due to their complex kinematic models. Unlike traditional vehicles with simpler kinematic models, these articulated vehicles require specialized navigation stacks. This project aims to develop a standalone navigation stack designed specifically for articulated vehicles, enabling them to navigate autonomously in complex environments.

Project Objectives:

Kinematic Model and Sensor Integration:

Analyze and model the complex kinematics of articulated vehicles accurately.

Develop interfaces and drivers for integrating sensors such as LiDAR, cameras, and IMUs while considering the non-traditional vehicle geometry.

Perception and Localization:

Implement perception algorithms that can handle the unique geometry of articulated vehicles, detecting moving parts and understanding their relation to the vehicle.

Develop robust localization methods that account for the articulated nature of the vehicle and its multiple degrees of freedom.

Path Planning and Trajectory Generation:

Design path planning algorithms that take into account the articulated nature of the vehicle.

Develop trajectory generation techniques that optimize for efficient and safe operation, considering the vehicle's constraints and articulation.

Control and Actuation:

Develop a control system capable of executing planned trajectories while managing the complex articulation of the vehicle.

Implement actuation interfaces for controlling each degree of freedom, such as the loader arm and bucket of a wheel loader.

Human-Machine Interface (HMI):

Create an intuitive HMI tailored to the unique control requirements of articulated vehicles.

Include features for monitoring the state of the articulated components and emergency override controls.

Simulation and Testing:

Develop a simulation environment that can accurately represent the behavior of articulated vehicles.

Conduct extensive testing in simulation and real-world scenarios to validate the navigation stack's performance.

Safety and Redundancy:

Implement safety measures, including collision detection and avoidance, to ensure safe autonomous operation.

Consider redundancy and fail-safe mechanisms to handle unexpected situations.

It is noteworthy that the enumerated objectives encompass a broad spectrum of tasks. While the project's scope may be adapted to accommodate varying sizes of student groups, the primary emphasis should be directed towards the domains of path planning and trajectory control, as well as control and actuation.

Expected Outcomes:

A specialized standalone navigation stack capable of handling articulated vehicles' complex kinematics.

Enhanced autonomy for articulated vehicles like wheel loaders, enabling them to navigate autonomously in challenging environments.

Improved safety, efficiency, and adaptability of autonomous articulated vehicle operations.

The development of a specialized navigation stack for autonomous articulated vehicles addresses a critical need in various industries where these vehicles are deployed. This project will provide a tailored solution that considers the unique kinematic challenges of articulated vehicles, contributing to safer and more efficient autonomous operations in complex environments.