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Hybrid Modelling and Reachability on Autonomous RC-Cars

Author(s):

T. A. Wood, P. Mohajerin Esfahani, J. Lygeros
Conference/Journal:

IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Eindhoven, Netherlands, pp. 430-435
Abstract:

In this paper we apply reachability analysis to design a controller for an RC-car to drive autonomously on a given circuit. We introduce a hybrid simpli cation technique to reduce the order of the model; this is crucial for reachability analysis. For a successful implementation on a real system the control problem is divided into two parts: a reachability control strategy is derived for the simpli ed hybrid model, and a gain-scheduled controller lets the full system track the simpli ed behaviour. We propose a heuristic algorithm to synthesise a hybrid feedback policy. By considering stochasticity in the model, we improve the performance of the controller which is finally validated on a real physical system.

Year:

2012
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { WooEsf:2012:IFA_4040,
    author={T. A. Wood and P. Mohajerin Esfahani and J. Lygeros},
    title={{Hybrid Modelling and Reachability on Autonomous RC-Cars}},
    booktitle={IFAC Conference on Analysis and Design of Hybrid Systems
	  (ADHS)},
    pages={430--435},
    year={2012},
    address={Eindhoven, Netherlands},
    month=jun,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4040}
}
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