Títol:
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Desenvolupament del control d'un vehicle autònom en un entorn de simulació
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Autor/a:
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Cartró Benavides, Jaime
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Altres autors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Elèctrica; Dòria Cerezo, Arnau |
Abstract:
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This thesis has as its main objective the development of a controller for an autonomous vehicle. Among all possible control strategies, th e methodology chosen follows a linear MPC structure in order to achieve the goal. Basically a MPC tries to predict future behaviour of the vehicle and anticipated the actions to perform smooth movements. In addition, a methodology to find a feasible speed profile was developed as it was a prior requirement to test correctly the controller. This planning for speed profile was done also by using MPC structure and does not take into account vehicle dynamics but kinematics . The procedure to evaluate the performance of the controller goes on building different scenarios and making simulations on them. Simulations have been done in MATLAB an d VI - CarRealTime. This last software is very important to achieve realistic dynamic response. The results show that the controller is a ver y valid option to consider in autonomous vehicles and has a big potential behind. Only in very extreme situations whe re the limits of the tyres are reached it present s some difficulties to operate. |
Matèries:
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-Àrees temàtiques de la UPC::Enginyeria elèctrica -Simulation methods -Autonomous vehicles -Simulació, Mètodes de -Vehicles autònoms |
Drets:
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http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Tipus de document:
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Treballs d'investigació/Fi de màster |
Publicat per:
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Universitat Politècnica de Catalunya
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