Study of algorithms for autonomous circuit driving based on invariant sets
Driving a car autonomously is an important goal that many scientists and engineers are currently working on. One of the control techniques that is widely used in various fields of control, robotics and in particular also in autonomous driving is that which is based on invariant sets. In this project...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/359126 |
| Acceso en línea: | https://hdl.handle.net/2117/359126 |
| Access Level: | acceso abierto |
| Palabra clave: | Autonomous vehicles Automobile driving Robust control Automatic control Invariant Set Autonomous driving Limit Constraints Robust Controlled Invariant MATLAB Vehicles autònoms Automòbils -- Conducció Control de robustesa Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | Driving a car autonomously is an important goal that many scientists and engineers are currently working on. One of the control techniques that is widely used in various fields of control, robotics and in particular also in autonomous driving is that which is based on invariant sets. In this project it is proposed to study the Invariant Set Theory and to apply some basic equations in the field of motion control for this autonomous driving model. The goal of the project is to create a full-integrated script on MATLAB that uses this method and to validate its efficiency by simulation. In order to reach this objective, a scale-closed circuit and a vehicle are proposed. Additionally, due to the complexity of the designing part starting from zero, some simplifications and assumptions have been considered. All these aspects are explained and detailed in this report. Finally, once the designing part is done, the simulation is executed and the results obtained are presented and evaluated. This report is one out of four documents related to this final thesis project. The document is structured in 5 different chapters that comprehend theory, designing and simulation parts of the project. Firstly, there is a theoretical framework included in Chapter 2 and Chapter 3. It contextualizes and describes the basic concepts in the field of kinematics and provides a brief introduction of the required motion equations as well as the Invariant Set Theory. Afterwards, the second part of the report is focused on the designing process. This second framework is located in Chapter 4 and details the working conditions and the steps required to perform the design of the script. After that, simulations are executed and their results are evaluated. Finally, at the end of the report a wide and large section of conclusions based on the analysis of the results obtained is introduced |
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