Optimization-based Path Planning Trajectory Tracking and Obstacle Avoidance of 1:10 scale RC car

  • 何 冠廷

學生論文: Master's Thesis

摘要

In the future the autonomous vehicles will be able to sense the environment navigate on their own and handle unexpected conditions This thesis focuses on the trajectory tracking obstacle avoidance and auto parking In the thesis we use Model Predictive Control (MPC) for experiments MPC utilizes the current states of the vehicle and the valid constraints to formulate an optimization problem and then the car is able to safely dodge the objects to achieve the goal In this thesis we already completed the simulations of trajectory tracking obstacle avoidance and auto parking In the experiment we use Robot operating system (ROS) providing a useful platform for connecting different nodes to implement MPC Besides Julia is a programming language fusing ROS other programming languages and numerical solvers such as IPopt to develop our experiment platform However using MPC to avoid obstacles require a long calculation time it’s impossible to implement on the car In the thesis another trajectory planning algorithm Frene ?t Planning is applied to plan a collision-free path we use model predictive control to track the path achieving obstacle avoidance in real time
獎項日期2018 七月 24
原文English
監督員Jiun-Haur Tarn (Supervisor)

引用此

Optimization-based Path Planning Trajectory Tracking and Obstacle Avoidance of 1:10 scale RC car
冠廷, 何. (Author). 2018 七月 24

學生論文: Master's Thesis