Gianmarco Picariello
Self-Driving Cars: Nonlinear MPC for Steering, Throttle and Brake Control.
Rel. Stefano Alberto Malan. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2023
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Abstract: |
This Master's Thesis work takes inspiration from the Bosch Future Mobility Challenge 2022, a challenge organized by the Bosch Engineering Center Cluj and concerns the development of algorithms for the autonomous driving on a 1:10 scale vehicle model. The goal of this document is to present the development of control strategies based on a Nonlinear Model Predictive Control (NMPC) for Perpendicular Autonomous Parking manoeuvres: - Perpendicular Parking using a Nonlinear Model Predictive Controller - Perpendicular Parking using a Multistage NMPC. - Perpendicular Parking using a NMPC with Trajectory Planning performed via an RRT* algorithm. The algorithms are re-elaborated from those provided by The MathWorks, Inc. in the case of Parallel Autonomous Parking. |
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Relators: | Stefano Alberto Malan |
Academic year: | 2022/23 |
Publication type: | Electronic |
Number of Pages: | 146 |
Subjects: | |
Corso di laurea: | Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica) |
Classe di laurea: | New organization > Master science > LM-25 - AUTOMATION ENGINEERING |
Aziende collaboratrici: | UNSPECIFIED |
URI: | http://webthesis.biblio.polito.it/id/eprint/26721 |
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