Development of embedded control systems for vehicle

Abstract

This dissertation presents the development of an embedded control system for vehicle, and robots. In this, a trajectory planner of polynomial order up to 5th and motion planner has been developed which plans the desired motion for a given waypoint. It begins with the objective and scope of software and hardware development for the project. Then, in the literature review existing works, problem statement and motion planning with polynomial order are presented. Next, the trajectory planning algorithms are explained and library functions for 1st to 5th order equations are developed. In the hardware development, the circuit diagram for motors and sensors are explained and library function for motors and sensors are developed. A Graphical User Interface (GUI) is also developed to create an interface between the user and control system for ease of use. The user can provide the inputs in terms of spatial locations and time, it passes the information to the trajectory planner which plans the desired trajectory and motion planner plans the desired motion, and the control system takes action to control the motion. In the experimental results, the trajectory and motion planning for polynomial trajectory are presented and application of developed library functions with path and trajectory planning using RRT, forward planning and reverse planning for parallel parking has been presented.