Tesi etd-10292020-105531 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
SARCHIONE, FLAVIO
URN
etd-10292020-105531
Titolo
Design and development of a 1:8 scale autonomous race car: system identification and closed-loop path following
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Gabiccini, Marco
relatore Prof. Caiti, Andrea
relatore Prof. Caiti, Andrea
Parole chiave
- closed-loop steer control
- vehicle model parameters identification
Data inizio appello
19/11/2020
Consultabilità
Non consultabile
Data di rilascio
19/11/2090
Riassunto
This thesis presents the algorithms and system architecture of an autonomous vehicle on a 1:8 scale.
The vehicle introduced is composed of a set of software designed for robustness and reliability. In order to travel autonomously, perception, estimation and control are incorporated into a single self-driven vehicle system.
In this work the last step, the control, which requires a pre-analysis to identify a mathematical model of the vehicle, has been analyzed in order to improve the performance of the control itself.
The vehicle introduced is composed of a set of software designed for robustness and reliability. In order to travel autonomously, perception, estimation and control are incorporated into a single self-driven vehicle system.
In this work the last step, the control, which requires a pre-analysis to identify a mathematical model of the vehicle, has been analyzed in order to improve the performance of the control itself.
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