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