A Control System for Autonomous Vehicles - Kinematics for a Control System

Abstract

The GeoMod software offers visualization and simulation for geometric models. The software is developed as independent modules which incorporate into a system. This thesis presents the development of a control system suitable for a modeler. The control system bases on forward and inverse kinematics for vehicles and tools with an interactive graphical user interface. Fundamental mathematics operations in a three-dimensional Euclidean space enables translation and rotation of geometric models. A reference system facilitates vehicles and tools to move with a chosen model. The process of the control system is reviewed and allows the relation between the end-effector and the vehicle to interact with a subject, such a path or a model by inverse kinematics. Freely-stand modules that are developed is addressed to design a unified control system for autonomous underwater vehicles. An attempt of a joint lift was attained through the combined effort of the implemented modules. The goal is to present a comprehensive control system working as a framework for the development of autonomous systems.