Browsing by Author "Mungan, Tahir Eren"

Filter results by typing the first few letters
Now showing 1 - 2 of 2
  • Thumbnail Image
    Conference Object
    Citation Count: 0
    Different Filter Approaches and Performance Analysis of Fundamental Sensors in Autonomous Ground Vehicles
    (Ieee, 2016) Kıvanç, Ömer Cihan; Mungan, Tahir Eren; Kivanc, Omer Cihan
    Autonomous ground vehicles are being designed and produced for industrial or military purposes. Since most of these vehicles are high cost the sensors used are high sensitive. However, sensors used in low cost robotic applications have low resolution. When non-precision sensor data added to measurement errors caused by different typical of geometry and drive methods, process functions of robots are hitching. To prevent this, five simple-structured filters are designed and compared in this study for low cost distance sensors and GPS sensors data. It has been observed that accuracy of hybrid-structured filters are more suitable than mono-structured filters in the results obtained.
  • Thumbnail Image
    Article
    Citation Count: 7
    An integrated approach to development of unmanned ground vehicle: design, analysis, implementation and suggestions
    (Gazi Univ, Fac Engineering Architecture, 2019) Kıvanç, Ömer Cihan; Mungan, Tahir Eren; Atila, Berkin; Tosun, Gurkan
    As the intelligent vehicle concept accelerated with electric vehicles, and then interest in autonomous vehicle technologies increased, investments on unmanned ground vehicle (UGV) studies also accelerated. Unmanned ground vehicles, despite their complex structure and technology, bring many advantages with their use. The most important advantages of UGVs are that they do not have human-specific features (sleepiness, fatigue, anger, etc.), react faster, and reach a decision by calculating possibilities according to the conditions. In this study, a UGV has been developed, which has the ability to navigate to a self-determined or unknown area, ability of mapping, localization, trajectory detection and tracking, detection of obstacles and finding a new path to avoid collisions with these obstacles. In an area without a specific map, skecth or floor plan, UGV's autonomous driving capability in indoor and outdoor, has been verified by the experiments. The phases, problems, solution techniques and results required for UGV design are presented with a systematic approach in this study.