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Title: Autonomous Drifting
Description: Controlling Agile Maneuvers like Drifting in Autonomous Vehicles
Tutor: Luca Bascetta
Start: May 2017
Number of students: 1
CFU: 20

Model Predictive Control for Autonomous Drifting

  • Finding an Optimal Maneuver for Autonomously Driving a Car up-to Tires Adhesion Limits in order to Pass a Track in Minimum Time
  • Designing a LTV-MPC Feedback Scheme in order to Control the Vehicle in Real-time Following the Optimal Trajectory and Avoiding Obstacles
  • Simulation of the Control Process by MATLAB Simulink and Modelica Vehicle Dynamics Library
  • Generating a ROS Node Running on Odroid and Application Experiments on a RC-car