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Autonomous Solar Electric Vehicle Development: Path Planning for Reduced Energy Consumption


D. Kamm

Diploma/Master Thesis, WS 10/11

Currently, a reduced scale Autonomous Solar Vehicle (ASV) is under construction at the Automatic Control Laboratory of the Swiss Federal Institute of Technology. Although the ASV can constantly produce energy through its solar panel, only the limited stored energy in the batteries is available, when the sun is covered. Hence, it is still a crucial part to optimize the motion in order to minimize the energy consumption and extend the lifetime of the vehicle. Within this Master’s Thesis an algorithm to perform offline energy optimal trajectory control is presented. In a first step, a dynamic model of the ASV is derived so as to predict the movement of the vehicle based on the applied motor torques. Further the energy consumption in the drive module of the vehicle on the basis of the applied force and velocity is modeled. This energy consumption serves as objective function for the optimization. Unfortunately, the optimization is non-convex. To overcome this issue, a convex initialization of the state vector is performed before the optimization. At the beginning, the focus of the experiments is laid on flat, straight line trajectories. Besides a general analysis of the optimal trajectories, the influence of the resistive forces on the energy consumption is investigated. In the following, the setup is extended to contain elevation profiles in order to examine the effect of gravity on the trajectory. In a final step, 2-dimensional trajectories in the plane are regarded with the possibility to supply reference points for the vehicles’ path.


Type of Publication:

(12)Diploma/Master Thesis

S. Almér

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2011:IFA_3847
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