dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Puig Cayuela, Vicenç
dc.contributor.author
Herreras Garcia, Alvaro
dc.date.issued
2018-06-21
dc.identifier
https://hdl.handle.net/2117/120469
dc.identifier
ETSEIB-240.134176
dc.description.abstract
In this master thesis, the use of the Takagi-Sugeno and MPC techniques will be applied to the trajectory planning and control of an autonomous vehicle. The first step will be to formulate the model of the autonomous vehicle using a Takagi-Sugeno model. Then, MPC techniques will be used to design a trajectory planner and a kinematic/dynamic controller. The proposed schemes will be tested in a vehicle with the aim of allowing the autonomous driving.
dc.format
application/pdf
dc.publisher
Universitat Politècnica de Catalunya
dc.rights
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject
Àrees temàtiques de la UPC::Enginyeria elèctrica
dc.subject
Autonomous vehicles
dc.subject
Automatic control
dc.subject
Vehicles autònoms -- Control automàtic
dc.title
Planning and control of an autonomous vehicle using Takagi-Sugeno and MPC techniques.
