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. Tesis (Master), E.T.S.I. Industriales (UPM).

Descripción

Título: Path Following Control System for car-like Unmanned Ground Systems
Autor/es:
  • Sanchez Lopez, Jose Luis
Director/es:
  • Campoy Cervera, Pascual
Tipo de Documento: Tesis (Master)
Título del máster: Automática y Robótica
Fecha: Septiembre 2012
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Grupo Investigación UPM: Computer Vision CVG
Licencias Creative Commons: Ninguna

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Resumen

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.

Más información

ID de Registro: 45250
Identificador DC: http://oa.upm.es/45250/
Identificador OAI: oai:oa.upm.es:45250
Depositado por: Sr Jose Luis Sanchez-Lopez
Depositado el: 21 Mar 2017 08:34
Ultima Modificación: 21 Mar 2017 08:35
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