Modelsko prediktivno upravljanje za autonomne utrke

master's thesis

• Title (english): Model predictice control for autonomous racing
• Author: Robert Rastovski
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-11, Croatia

Abstract

Modelsko prediktivno upravljane za autonomne utrke optimizacijski je problem koji se temelji na rješavanju nelinearnog kvadratnog problema. Problem se postavlja definiranjem korištenog modela te postavljanjem unaprijed definiranih ograničenja. Korištena su dva modela: kinematički model i dinamički model. Dinamički uzima u obzir proklizavanje guma te prisutnost određenih sila. Nakon postavljanja problema, koristi se HPIPM okruženje koje rješava kvadratni problem te računa optimalne kontrolne varijable. Prva kontrolna varijabla se primjenjuje na trenutno stanje te se postupak ponavlja. Ponašanje automobila pod utjecajem izračunatih kontrolnih varijabli ja zatim simulirano te grafički prikazano.

Abstract (english)

Model predictive control for autonomous racing is an optimization problem based on solving a nonlinear quadratic problem. The problem is formulated by defining the used model and setting predefined constraints. Two models are used: a kinematic model and a dynamic model. The dynamic model takes into account tire slip and the presence of certain forces. After formulating the problem, the HPIPM environment is used to solve the quadratic problem and calculate the optimal control variables. The first control variable is applied to the current state, and the process is repeated. The behavior of the car under the influence of the calculated control variables is then simulated and graphically displayed.

• Keywords: MPCC; modelsko prediktivno upravljanje; kvadratno programiranje; optimizacija
• Keywords (english): MPCC; model predictive control; quadratic programming; optimization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:084009
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 10:19:28