École Nationale Supérieure de
Techniques Avancées

Abstract

This report contains the work done in the graduation internship. The purpose of this project is the autonomy of an Unmanned Ground Vehicle (UGV). The system is able to detect obstacles using a LIght Detection And Ranging (LIDAR) sensor and avoid them using an algorithm based on the method of potential fields. The goal of the project is to propose a solution of trajectory tracking using a differential GPS and an inertial measurement unit. A graphical user interface was developed to facilitate the use of the program and corresponds to the different phases of work. The different results offered are those of simulations and those of experiments.