Outdoor Localization and Path Planning for Repositioning a Self-Driving Electric Scooter

dc.contributor.advisorPaley, Dereken_US
dc.contributor.authorPoojari, Srijal Shekharen_US
dc.contributor.departmentSystems Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2023-06-23T06:25:18Z
dc.date.available2023-06-23T06:25:18Z
dc.date.issued2023en_US
dc.description.abstractThe long-term goal of this research is to develop self-driving e-scooter technology to increase sustainability, accessibility, and equity in urban mobility. Toward this goal, in this work, we design and implement a self-driving e-scooter with the ability to safely travel along a pre-planned route using automated, onboard control without a rider. We also construct an autonomous driving framework by synthesizing open-source robotics software libraries with custom-designed modules specific to an e-scooter, including path planning and state estimation. The hardware and software development steps along with design choices and pitfalls are documented. Results of real-world autonomous navigation of our retrofitted e-scooter, along with the effectiveness of our localization methods are presented.en_US
dc.identifierhttps://doi.org/10.13016/dspace/tbvg-9is5
dc.identifier.urihttp://hdl.handle.net/1903/30073
dc.language.isoenen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledEngineeringen_US
dc.subject.pquncontrolledautonomous drivingen_US
dc.subject.pquncontrolledground roboten_US
dc.subject.pquncontrolledlocalizationen_US
dc.subject.pquncontrollednavigationen_US
dc.subject.pquncontrolledpath planningen_US
dc.subject.pquncontrolledscooteren_US
dc.titleOutdoor Localization and Path Planning for Repositioning a Self-Driving Electric Scooteren_US
dc.typeThesisen_US

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