ETD system

Electronic theses and dissertations repository

 

Tesi etd-02032020-165410


Thesis type
Tesi di laurea magistrale
Author
RYALS, ANDREA DAN
email address
a.ryals@studenti.unipi.it, andrea.d.ryals@gmail.com
URN
etd-02032020-165410
Title
Path planning and control for autonomous race cars
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof.ssa Pallottino, Lucia
correlatore Ing. Caporale, Danilo
Parole chiave
  • OSQP
  • self driving cars
  • autonomous vehicles
  • autonomous cars
  • Roborace
  • MPC
  • c++
  • C
  • Matlab
  • optimization
Data inizio appello
20/02/2020;
Consultabilità
Parziale
Data di rilascio
20/02/2090
Riassunto analitico
In these last two decades, autonomous driving has become a very popular trend in the automotive field. Started as a research topic, it has quickly turned into a field of interest for several companies around the world. Among the technical problem this technology has to face there are path planning and control, key functions for an autonomous vehicle. In this work two path planning and control strategies for an autonomous car are presented. First an offline path planning graph based method together with a pure pursuit controller and, in a second phase, the development of online MPC controller following an offline generated trajectory but able to re-plan trajectory online to perform lane change and obstacle avoidance.
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