AutoTruck : Automated docking with internal sensors

Sammanfattning: The purpose of this bachelor thesis was to discover howan articulated vehicle can park itself using a pre-definedparking path with a combination of ultrasonic sensors aswell as a rotary angle sensor.The project was divided into two parts: constructing asmall scale demonstrator and the software controlling thedemonstrator. The demonstrator was constructed from offthe-shelf components and custom parts. The truck was designedbased on a rear wheel driven truck with Ackermannsteering. The localization of a parking spot and measuringother distances was done with ultrasonic sensors and thehitch angle was measured by a rotary angle sensor.The performance of the demonstrator was evaluated bymeasuring the trailers angle difference from the center lineof the parking spot.The performance was deemed to be reasonably goodwith successful parkings in 8 out of 10 attempts.