{"id":{"repo_id":"uoit","oai_identifier":"oai:ontariotechu.scholaris.ca:10155/1043"},"canonical_url":"https://search.dev.ndltd.org/etd/uoit/oai:ontariotechu.scholaris.ca:10155/1043","repository":{"repo_id":"uoit","name":"Ontario Institute of Technology","base_url":"https://ontariotechu.scholaris.ca/server/oai/request"},"display":{"title":"Design and development of an autonomous scaled electric combat vehicle","abstract":"Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel scaled robotic platform that features independent wheel actuation and autonomous navigation capabilities is developed in this work to represent a potential future design of combat vehicles. The following thesis discusses the details of the mechanical systems in addition to the embedded electronics and software architecture. From there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations imposed by current navigation methodologies. The result of this work is a proposed prototype capable of navigation and precise positioning.","abstract_html":"Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel scaled robotic platform that features independent wheel actuation and autonomous navigation capabilities is developed in this work to represent a potential future design of combat vehicles. The following thesis discusses the details of the mechanical systems in addition to the embedded electronics and software architecture. From there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations imposed by current navigation methodologies. The result of this work is a proposed prototype capable of navigation and precise positioning.","abstract_has_math":false,"creators":["Tan, Aaron Hao"],"institution":"University of Ontario Institute of Technology","degree_name":"Master of Applied Science (MASc)","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["El-Gindy, Moustafa","Lang, Haoxiang"],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-04-01","date_published":"2019-04-01","updated_at":"2026-07-24T05:35:43Z","subjects":["Autonomous","Combat vehicle","Obstacle avoidance","Path planning","ROS"],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10155/1043","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["El-Gindy, Moustafa","Lang, Haoxiang"]},{"key":"dc:creator","label":"Author","values":["Tan, Aaron Hao"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-05-02T19:46:11Z","2022-03-29T16:49:23Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-05-02T19:46:11Z","2022-03-29T16:49:23Z"]},{"key":"dc:date.issued","label":"Date","values":["2019-04-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Ontario Institute of Technology"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Autonomous","Combat vehicle","Obstacle avoidance","Path planning","ROS"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10155/1043"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel scaled robotic platform that features independent wheel actuation and autonomous navigation capabilities is developed in this work to represent a potential future design of combat vehicles. The following thesis discusses the details of the mechanical systems in addition to the embedded electronics and software architecture. From there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations imposed by current navigation methodologies. The result of this work is a proposed prototype capable of navigation and precise positioning."]},{"key":"dc:title","label":"Title","values":["Design and development of an autonomous scaled electric combat vehicle"]}]}],"canonical_facts":{"dc:contributor.advisor":["El-Gindy, Moustafa","Lang, Haoxiang"],"dc:creator":["Tan, Aaron Hao"],"dc:date.accessioned":["2019-05-02T19:46:11Z","2022-03-29T16:49:23Z"],"dc:date.available":["2019-05-02T19:46:11Z","2022-03-29T16:49:23Z"],"dc:date.issued":["2019-04-01"],"dc:description.abstract":["Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel scaled robotic platform that features independent wheel actuation and autonomous navigation capabilities is developed in this work to represent a potential future design of combat vehicles. The following thesis discusses the details of the mechanical systems in addition to the embedded electronics and software architecture. From there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations imposed by current navigation methodologies. The result of this work is a proposed prototype capable of navigation and precise positioning."],"dc:identifier.uri":["https://hdl.handle.net/10155/1043"],"dc:language.iso":["en"],"dc:subject":["Autonomous","Combat vehicle","Obstacle avoidance","Path planning","ROS"],"dc:title":["Design and development of an autonomous scaled electric combat vehicle"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["Master of Applied Science (MASc)"],"thesis:institution_name":["University of Ontario Institute of Technology"]},"updated_at":"2026-07-24T05:35:43Z"}