University of Twente Student Theses


Path and Trajectory Planning by Model Predictive Control in Autonomous Racing

Sprang, Angela V. van (2021) Path and Trajectory Planning by Model Predictive Control in Autonomous Racing.

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Abstract:Driverless vehicles could have a tremendous impact on society, by making the mobility system safer, more accessible and more sustainable. However, there are legal challenges to overcome before fully automated vehicles will drive on public roads. The Netherlands Vehicle Authority (Dienst Wegverkeer, RDW) evaluates vehicles and is interested in the capabilities of self-driving vehicles. The goal of this thesis is to help provide insights in the capabilities of self-driving vehicles, by determining the fastest path and corresponding velocities of autonomous go-karts on a given track, using Model Predictive Control. First, the road and the go-kart are modelled and a state representation is given. The go-kart is modelled by a kinematic bicycle model and the time- and space-derivatives are determined. Then, a controller algorithm is formulated that uses (a simplification of) the vehicle model to calculate the optimal trajectory based on the road and vehicle constraints. The objective of the controller is to maximise (a simplification of) the progress along the center-line of the road. Finally, the MPC algorithm is programmed and tested for different race tracks and in different scenarios. The objective function of the controller behaves as expected, although the controller is not robust with respect to all testing parameters in the MPC algorithm. Considering that approximations have been made in this thesis with regard to the vehicle model, cost function and vehicle dynamics, the proposed MPC algorithm determines the fastest path and corresponding velocities reasonably well.
Item Type:Essay (Bachelor)
RDW, Groningen, The Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 33 physics, 50 technical science in general, 54 computer science
Programme:Applied Mathematics BSc (56965)
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