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Model Predictive Contouring Control


Florian Perrodin

Master Thesis, FS 11 (10090)

Following a track automatically as fast as possible is an open challenge for real cars. The framework derived in this report aims to adress this problem using model predictive contouring control (MPCC). Instead of the classical scheme where a 4D trajectory (path, velocity and steering angle) is supposed to be given, MPCC requires only to give a 2D trajectory: the path that has to be tracked. A virtual state is added to the real state which represents the position of the car on the track. This virtual state enables to control the deviation to the path that has to be tracked. Further developments include oine path planning and online path planning. The framework developped here is to a certain extent independant of the model used.


Type of Publication:

(13)Semester/Bachelor Thesis

A. Domahidi

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2011:IFA_4135
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