Predictive Control of an Autonomous Vehicle using the RTI method
With the advance of technology and robotics as well as the increase in automation of facto- ries, new control strategies are needed to fulfill the strict production, time and economic targets. This master’s thesis aims to design and implement a Model Predictive Control based on the Real Time Iterati...
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| Formato: | tesis de maestría |
| Fecha de publicación: | 2021 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/359261 |
| Acesso em linha: | https://hdl.handle.net/2117/359261 |
| Access Level: | acceso abierto |
| Palavra-chave: | Autonomous vehicles Autonomous vehicles--Computer simulation Vehicles autònoms Vehicles autònoms--Simulació per ordinador Àrees temàtiques de la UPC::Enginyeria mecànica |
| Resumo: | With the advance of technology and robotics as well as the increase in automation of facto- ries, new control strategies are needed to fulfill the strict production, time and economic targets. This master’s thesis aims to design and implement a Model Predictive Control based on the Real Time Iteration scheme in a autonomous vehicle. For this purpose, the algorithm was first studied and designed in Matlab and then the controller was implemented in a simulated environment using ROS and a vehicle simulator, where conditions closer to those of a real en- vironment were met. Both the designing and implementation results were positive, obtaining a MPC controller able to provide the inputs for the vehicle to follow the reference correctly, obtaining a reliable performance. As the simulated environment is meant to be as closer to reality as possible, it is safe to assume that the controller developed and tested in ROS will have a positive result when implemented in a real Radio-Controlled car. |
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