de Boer, Stijn (2020) Spatial-Based Model Predictive Control for Trajectory Generation in Autonomous Racing. Research Project, Industrial Engineering and Management.
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Abstract
An attractive research direction within automation is autonomous vehicles and especially in the last decade, applications in this topic have undergone tremendous improvement. Within the field of vehicle control, autonomous racing has gained increased interest in terms of research. Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. An integrated plan-and track control algorithm to automatically steer an autonomous race car along an optimized desired trajectory is designed, using Model Predictive Control. A kinematic bicycle model is employed to derive the dynamics of the vehicle. Commonly used time-dynamics are reformulated to spatial dynamics by expressing equations in terms of the center-line of the track and are used to design the controller. Hence, the name Spatial-Based Model Predictive Control (MPC). The utmost advantage of this reformulation is the allowance of natural modeling of static and dynamic objects (representing race opponents) as spatial bounds on the track. The nonlinear vehicle dynamics are successively linearized around previous solutions of the MPC problem, allowing the problem to be formulated as a convex optimization problem. The objective of the Spatial-Based MPC controller is to maximize the progress along the center-line of a given track, while ensuring smoothness along the way. The performance of the controller is tested on manually created tracks.
| Item Type: | Thesis (Research Project) |
|---|---|
| Supervisor name: | Jayawardhana, B. and Monshizadeh Naini, N. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 01 Apr 2020 10:29 |
| Last Modified: | 01 Apr 2020 10:29 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/21715 |
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