Controller Development and Implementation for Path Planning and Following in an Autonomous

I hereby declare that: • I conducted the literature review for this thesis. • Unless otherwise stated, I researched, developed and implemented the continuous curvature path planning techniques (both theoretically and in software) presented in Chapter 2 of this document. • I researched the shortest path algorithms, developed the path replanning (obstacle avoidance) technique and implemented and performed the accompanying simulations myself. • I developed and implemented the path tracking (steering) control system and simulator. • I developed the steering model used in the controller simulations. • I implemented and tested with the assistance of José Guivant (and his software) the steering controller and the MATLAB/Hyperkernel shared memory interface on the ute. • I converted my path planning/following system from simulation to real-time operation on the ute. • I wrote the GUI used for operating the path planning and tracking system (for both path entry and following). • I assisted Ken Lee with the theoretical design of the intermodule communications system. • The obstacle avoidance technique implemented on the ute was jointly developed by Ken Lee and myself. i ii • With the assistance of Ken Lee, I developed and implemented the complete path planning/tracking and obstacle avoidance system on the ute. • The complete system, as described in Chapter 5, has been successfully demonstrated to my supervisor, Associate Professor Eduardo Nebot. • All testing was performed by myself, except for the obstacle avoidance field trials which were carried out with the help of Ken Lee. • All results derived from both simulations and field tests are presented without alteration. • The analysis of the data and the conclusions reached are my own