Path Following Control System for car-like Unmanned Ground Systems

Sanchez Lopez, Jose Luis (2012). Path Following Control System for car-like Unmanned Ground Systems. Thesis (Master thesis), E.T.S.I. Industriales (UPM).

Description

Title: Path Following Control System for car-like Unmanned Ground Systems
Author/s:
  • Sanchez Lopez, Jose Luis
Contributor/s:
  • Campoy Cervera, Pascual
Item Type: Thesis (Master thesis)
Masters title: Automática y Robótica
Date: September 2012
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: Computer Vision CVG
Creative Commons Licenses: None

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Abstract

In this Master Work, a new High-Level Control System is proposed for the path following control problem for two car-like Unmanned Ground Systems (UGSs) Prototypes. The first prototype based on a Citroën C3 is small and it has light weight and small wheels. The second one, based on an Iveco Eurocargo is bigger than the other and it needs a more complex High-Level Control System. This High-Level Control System is composed by a State Estimator and by a Controller. The State Estimator used all the measurements and all the available info to calculate the most precise state of the UGS. Then, the Controller, composed by a Feed-Forward controller, a Feed-Back Controller and a Wheel Dynamic Compensator, generates the steering reference to achieve the path following problem. This High-Level Controller has been tested by lots of Simulations and has been implemented in a real UGS. The goodness of the High-Level Controller is demonstrated through an increase of the performance in the path following displayed with a high number of laps achieved without lose the circuit (more safety), a high speed of the UGS, and more comfort for the UGS passengers.

More information

Item ID: 45250
DC Identifier: http://oa.upm.es/45250/
OAI Identifier: oai:oa.upm.es:45250
Deposited by: Sr Jose Luis Sanchez-Lopez
Deposited on: 21 Mar 2017 08:34
Last Modified: 21 Mar 2017 08:35
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