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- W2587693823 abstract "There are four main procedures that an Autonomous car-like vehicle must perform in a real-timedynamic complex environment: Perception and Modelling, Localization and Map Building,Path Planning and Decision-Making, and Motion Control. The Motion Control proceduretranslates the decision taken by the Path Planning and Decision-Making module to specificcommands for the different actuators of the vehicle. The Motion Control issue treated in thisThesis is the Path Tracking problem.The goal of this Thesis is to approach the problem in the simplest possible way whilst beingaccurate and developing an intuitive design procedure. To achieve this goal, the bicycle-likekinematic model and a switched state feedback LPV controller, which has been designed usingthe polytopic transformation via nonlinear embedding and bounding box approach in order toperform the control of the system in an integrated way (lateral and longitudinal control at theonce), have been chosen.Consequently, two different controllers have been synthesized, compared and proven fullyadequate to confront the Path Tracking Problem. Both controllers show very good results andseem very consistent in the non-conservative simulation tests performed.The approach proposed in this Thesis is simple, intuitive and has produced successful simulationresults." @default.
- W2587693823 created "2017-02-17" @default.
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- W2587693823 date "2016-06-08" @default.
- W2587693823 modified "2023-09-24" @default.
- W2587693823 title "LPV Control of an Autonomous Vehicle" @default.
- W2587693823 hasPublicationYear "2016" @default.
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