Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.

  

Hybrid Modelling and Reachability on Autonomous RC-Cars

Author(s):

T. A. Wood
Conference/Journal:

Semester Thesis,FS 11 (10107)
Abstract:

In this report 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 nally validated on a real physical system. i

Year:

2011
Type of Publication:

(13)Semester/Bachelor Thesis
Supervisor:

P. Mohajerin Esfahani

File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2011:IFA_4125
}
Permanent link