Simulation modeling and analysis package for unmanned ground vehicle systems in urban environment

Document Type



Master of Science (MS)


Mechanical Engineering

First Advisor's Name

Sabri Tosunoglu

First Advisor's Committee Title

Committee Chair

Second Advisor's Name

Yiding Cao

Third Advisor's Name

Ibrahim Tansel

Date of Defense



The primary purpose of this research was to develop and demonstrate a tool that will help improve the development, testing and implementation of control algorithms as well as the 3D animation of UGVs to virtually evaluate their performance in an urban environment This project describes a functional UGV prototype in a virtual environment. Configuration and assembly of sensors on a real UGV requires skills in many areas which make it difficult for an engineer specialized in one area. In this work, a new approach for the solution of this problem has been developed utilizing the Virtual Environment Software. A pathfinding algorithm is used to work as a GPS system and provide the vehicle with information for the path to follow. The path is recalculated every time the vehicle detects an obstacle on its way. Sonar sensors are also developed virtually to detect obstacles. Performance of a UGV is demonstrated in a realistic urban environment.



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