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. Path following is a methodology
for driving the vehicle along a path without temporal constraints, meaning that
the forward velocity can be chosen within safety limits.
Despite
being a well-known research and development subject, path following is still
challenging when significant uncertainties are found in the system model or in
the positioning sensor-measurements. Uncertainties may imply large deviations
of the vehicle pose with respect to the desired paths.
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
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