Search for dissertations about: "nonlinear model predictive control for autonomous vehicles"

Showing result 6 - 10 of 15 swedish dissertations containing the words nonlinear model predictive control for autonomous vehicles.

2. 6. Fuel-efficient and safe heavy-duty vehicle platooning through look-ahead control

   Author : Valerio Turri; Karl H. Johansson; Nathan van de Wouw; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; platooning; eco-driving; look-ahead control; dynamic programming; distributed model predictive control; optimal control; autonomous vehicles; Electrical Engineering; Elektro- och systemteknik; Vehicle and Maritime Engineering; Farkostteknik;

   Abstract : The operation of groups of heavy-duty vehicles at small inter-vehicular distances, known as platoons, lowers the overall aerodynamic drag and, therefore, reduces fuel consumption and greenhouse gas emissions. Experimental tests conducted on a flat road and without traffic have shown that platooning has the potential to reduce the fuel consumption up to 10%. READ MORE

4. 7. On Autonomous Articulated Vehicles

   Author : Thaker Nayl; Dimos Dimarogonas; Luleå tekniska universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

   Abstract : The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. READ MORE

5. 8. Cooperative and Interaction Control for Underwater Robotic Vehicles

   Author : Shahab Heshmati-Alamdari; Kostas J. Kyriakopoulos; National Technical University of Athens School of Mechanical Engineering Control Systems Lab; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Marine robotics; Robotics; Underwater Vehicle Manipulator Systems; Cooperative manipulations; Visual servoing; Nonlinear Model Predictive Control; Autonomous Underwater Vehicles; Industrial Information and Control Systems; Industriella informations- och styrsystem; Vehicle and Maritime Engineering; Farkostteknik;

   Abstract : In this dissertation we address the problem of robust control for underwater robotic vehicles under resource constraints and inspired by practical applications in the field of marine robotics. By the term “resource constraints” we refer to systems with constraints on communication, sensing and energy resources. READ MORE

6. 9. Computationally efficient exact remodeling of optimization programs with applications to autonomous driving

   Author : Johan Karlsson; Chalmers tekniska högskola; []
   Keywords : NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Autonomous driving; Real-time implementation; Model predictive control; Convex optimization;

   Abstract : The future of autonomous vehicles is rapidly approaching and the published and available research, both from vehicle manufacturers and universities, is abundant. This new technology promises less pollution, lower accident rates, decreased congestion and the possibility to relax or work while a vehicle takes you where you need to go. READ MORE

7. 10. Hydrobatics: Real-time Control, Simulation and Learning for Underactuated AUVs in Agile Maneuvers

   Author : Sriharsha Bhat; Ivan Stenius; Dimos V. Dimarogonas; Massimo Caccia; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; utonomous Underwater Vehicles; Underactuated Systems; Model Predictive Control; Hybrid Systems; Simulation; System Identification; Adaptive Sampling; Cyber-physical Systems.; Autonoma Undervattensfarkoster AUV ; Modellering; Simulering; Modelprediktiv kontroll MPC ; Systemidentifiering; Adaptiv mätning; Fältförsök; Cyber-fysikaliska System CPS .; Farkostteknik; Vehicle and Maritime Engineering;

   Abstract : The term hydrobatics refers to the agile maneuvering of underwater vehicles. Underwater robots such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) are either designed as flight style, optimized for range and speed, or hover style, optimized for precise maneuverability. READ MORE