Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila

master's thesis

• Title (english): Optimal control of racing car scaled model
• Author: Dorijan Leko
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Razvijeni su kinematički i dinamički modeli vozila za upravljanje bezirano na modelu sustava koji se koriste u autonomnoj vožnji. Također, dan je pregled ostalih modela vozila i modela pneumatika kao i njihove prednosti te ograničenja. U radu je obrađen manevar klizanja analizom ravnotežnog stanja te je opisana ovisnost ulaznih i izlaznih veličina. Zbog složene dinamike manevra, bočno klizanje teško je modelirati i upravljati njime u autonomnim vozilima. Planiranje trajektorije određeno je iz algoritma temeljenog na uzorcima. Algoritmi planiranja i upravljanja provjereni su u simulaciji pomoću programskog jezika MATLAB/Simulink.

Abstract (english)

Kinematic and dynamic vehicle models were developed for model-based control design used in autonomous driving. Also, it provided an overview of vehicle models and tire models and examined the merits and limitations of each model. This thesis also examined the phenomenon of drift by conducting a steady-state analysis and discussing the resulting equilibrium states and inputs. Due to the complex dynamics of maneuvers, transient drift is difficult to model and to control in autonomous vehicles. The reference trajectory is generated from a ruled-based algorithm. The planning and control technique was validated in simulation using MATLAB/Simulink.

• Keywords: MPC; autonomno upravljanje vozilom; određivanje trajektorije; analiza ravnotežnog stnaja; modeli vozila
• Keywords (english): MPC; autonomous vehicle control; path planning; equilibrium analysis; vehicle models
• Language: croatian
• URN:NBN: urn:nbn:hr:168:451437
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 10:18:14