This thesis presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulation and experimental results show that the proposed controller is capable of tracking the desired path as well as avoiding the previewed obstacles.
In questa tesi è sviluppata una logica di controllo per veicoli autonomi. L’obiettivo è quello di seguire un percorso evitando ostacoli. Un nonlinear model predictive control (NLMPC) basato su un sistema semplificato è utilizzato per generare la traiettoria on-line. L’algoritmo utilizzato per l’ottimizzazione è il GMRES/Continuation. Simulazioni e risultati sperimentali mostrano l’efficacia della logica proposta.
Nonlinear model predictive control for real time path following and collision avoidance
ROSOLIA, UGO
2013/2014
Abstract
This thesis presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulation and experimental results show that the proposed controller is capable of tracking the desired path as well as avoiding the previewed obstacles.File | Dimensione | Formato | |
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2014_10_Rosolia.pdf
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Descrizione: Testo della tesi
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https://hdl.handle.net/10589/96042