Objectives:
Electric
vehicles are expected to be a common choice of personal transportation within a
near future. The electric driving is a convenient setting for designing
controllers that allow autonomous navigation. Various motion planning and
vehicle control methodologies exist [Paden16]. In this work is considered the
pose of the vehicle is precisely known, however aspects as loose surfaces imply
uncertainty to the dynamical behavior of the vehicle.
The
approaches to consider for steering control and speed assistance differ in the
vehicle mobility model used, in assumptions on the structure of the
environment, and in computational requirements [Paden16].
The
main objectives/steps of the work are the following:
-
Create simulation setup based on the real setup where sample (existing)
controllers can be tested. Simple models as the unicycle are considered in a
first stage.
-
Improve system model by considering the car motion model.
-
Consider experiments where the position sensors can have malfunction periods or
have added noise.
This
work is conducted within the framework of the project VIENA, driving a FIAT
electric car, representing the IST. Some information regarding the VIENA
project can be found in
https://istpowerlab.wixsite.com/e2tes/viena
References:
[Paden16] Paden, B., Čáp, M., Yong, S. Z.,
Yershov, D., & Frazzoli, E. (2016). "A survey of motion planning and
control techniques for self-driving urban vehicles". IEEE Transactions on
intelligent vehicles, 1(1), 33-55.
Requirements (grades,
required courses, etc):
--
Localization:
IST
Alameda
Observations:
Previous
works provide good starting points for the thesis.
For more information contact José Gaspar
http://www.isr.tecnico.ulisboa.pt/~jag