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| Author(s): |
Rafael de Angelis Cordeiro
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | Campinas, SP. |
| Institution: | Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Mecânica |
| Defense date: | 2013-05-24 |
| Examining board members: |
Ely Carneiro de Paiva;
Niederauer Mastelari;
Marcelo Becker
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| Advisor: | Ely Carneiro de Paiva |
| Abstract | |
Autonomous ground vehicles have received special attention from robotics studies in past years. Their applications include advanced driver assistance systems (ADAS), exploration of inhospitable environments and harvest autonomous machines. In partnership with CTI, this master's thesis focuses in the development of path tracking controllers applied to off-road vehicles. In order to simulate vehicle characteristics, a complete three-dimensional nonlinear dynamic model was proposed with emphasis on tire-road interaction models, which are responsible for most of the vehicle's nonlinearities. In sequence, two vehicle reduced linear models are presented and applied to synthesize LQR controllers, whose results are compared. One of them was chosen to analyze the effect of vehicles's three-dimensional dynamics on path tracking control. Finally, three different approaches are proposed to enhance controllers performance (AU) | |
| FAPESP's process: | 10/14295-4 - Modelling and Control of an Outdoor Robotic Vehicle |
| Grantee: | Rafael de Angelis Cordeiro |
| Support Opportunities: | Scholarships in Brazil - Master |