ETD

Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-10292020-105531

Tipo di tesi

Tesi di laurea magistrale

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

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 (Inglese)

Riassunto (Italiano)

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.

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