2026-04-17T06:18:06Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/1204692025-07-22T17:00:42Zcom_2072_1033col_2072_452951

urn:hdl:2117/120469 Planning and control of an autonomous vehicle using Takagi-Sugeno and MPC techniques. Herreras Garcia, Alvaro Àrees temàtiques de la UPC::Enginyeria elèctrica Autonomous vehicles Automatic control Vehicles autònoms -- Control automàtic In this master thesis, the use of the Takagi-Sugeno and MPC techniques will be applied to the trajectory planning and control of an autonomous vehicle. The first step will be to formulate the model of the autonomous vehicle using a Takagi-Sugeno model. Then, MPC techniques will be used to design a trajectory planner and a kinematic/dynamic controller. The proposed schemes will be tested in a vehicle with the aim of allowing the autonomous driving. 2018-06-21 Master thesis http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Open Access Universitat Politècnica de Catalunya