2026-04-13T07:04:19Zhttps://recercat.cat/oai/requestoai:recercat.cat:2117/1204692025-07-22T17:00:42Zcom_2072_1033col_2072_452951
RECERCAT
author
Herreras Garcia, Alvaro
2018-06-21
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.
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Open Access
Àrees temàtiques de la UPC::Enginyeria elèctrica
Autonomous vehicles
Automatic control
Vehicles autònoms -- Control automàtic
Planning and control of an autonomous vehicle using Takagi-Sugeno and MPC techniques.
Master thesis