• Login
    View Item 
    •   Home
    • University of Alaska Fairbanks
    • UAF Graduate School
    • Engineering
    • View Item
    •   Home
    • University of Alaska Fairbanks
    • UAF Graduate School
    • Engineering
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of Scholarworks@UACommunitiesPublication DateAuthorsTitlesSubjectsTypeThis CollectionPublication DateAuthorsTitlesSubjectsType

    My Account

    Login

    First Time Submitters, Register Here

    Register

    Statistics

    Display statistics

    A web interface for Clearpath unmanned ground vehicle navigation, mapping, and control

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    Randle_D_2023.pdf
    Size:
    10.42Mb
    Format:
    PDF
    Download
    Author
    Randle, Daniel P.
    Chair
    Hatfield, Michael
    Committee
    Raskovic, Dejan
    Lawlor, Orion
    Metadata
    Show full item record
    URI
    http://hdl.handle.net/11122/14740
    Abstract
    This project aims to restore and upgrade the UAF Clearpath platform assets, develop a web application for visualization and control, and document the process. The platforms were upgraded with the latest Clearpath Linux distributions and ROS packages, and their base stations were restored with correctly configured routers. A web application was created to provide convenient visualization and control of the UGVs through a user interface tuned for desktop and smartphone web browsers. The system allows for full control/visualization and read-only visualization through different endpoints, with driving and autonomous navigation features available through the control endpoint. The system also provides a two-dimensional map with the robot and obstacles localized on the map, and an interface for setting autonomous navigation goals. The project was thoroughly documented, and the source code and documents will remain available on GitHub for future use. The system is easily extendable and customized, allowing for the development of new navigation algorithms, user interface features, and endless other possible future projects involving Clearpath platforms.
    Description
    Master's Project (M.S.) University of Alaska Fairbanks, 2023
    Date
    2023-05
    Type
    Master's Project
    Collections
    Engineering

    entitlement

     
    ABOUT US|HELP|BROWSE|ADVANCED SEARCH

    The University of Alaska is an affirmative action/equal opportunity employer, educational institution and provider and prohibits illegal discrimination against any individual.

    Learn more about UA’s notice of nondiscrimination.

    Open Repository is a service operated by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.