Repositorio Institucional del ITESO

Omnidirectional Autonomus Robot

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Mostrar el registro sencillo del ítem Díaz-Cossío, Jesús A. 2017-08-14T18:25:37Z 2017-07
dc.identifier.citation Díaz-Cossío, J. A. (2017). Omnidirectional Autonomus Robot. Trabajo de obtención de grado, Especialidad en Sistemas Embebidos. Tlaquepaque, Jalisco: ITESO. es
dc.description The impact caused by the accelerated growth of technological developments on the automotive industry has facilitated the creation of the autonomous car. The problem is that most of the developments in autonomous driving technologies are being manufactured by world-known companies and the tools required for testing and development of self-driving technologies are not openly shared with the public. The objective of this work is to build an accessible low cost platform that allows the development and testing of self-driving technologies that can be easily accessed by other organizations, such as universities. An existing scaled car chassis was used as a base integrated with a S32K144 evaluation board to drive the motors and read the sensors of the scaled car. In order to save time and effort in configuring the microcontroller, portable and scalable software drivers based on AUTOSAR architecture were created. Moreover, a series of equations that describe the movement of the car are presented, however, the complete mathematical model was not completed as specific motor parameters of the chassis were not specified. The drivers were validated by creating an example application for controlling an omnidirectional car using the computer. The S32K144 evaluation board, along with the software drivers were able to drive all functionalities of the scaled car. Nonetheless, it was concluded that the S32K144 board may fall short in running complex algorithms such as image processing, and thus, testing the software drivers in a more powerful board is suggested. es
dc.description.sponsorship ITESO, A. C. es
dc.description.sponsorship Consejo Nacional de Ciencia y Tecnología es
dc.description.sponsorship NXP Semiconductors Mexico es
dc.language.iso eng es
dc.publisher ITESO es
dc.rights.uri es
dc.subject Car Autonomous Algorithm es
dc.subject Omnidirectional ADAS es
dc.subject AUTOSAR es
dc.title Omnidirectional Autonomus Robot es
dc.type info:eu-repo/semantics/academicSpecialization es
dc.contributor.director Cotero-Ochoa, Bernardo
rei.peerreviewed Yes es
rei.embargo.terms siempre es
rei.embargo.lift 10000-01-01

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