Predictive Control for Autonomous Articulated Vehicles

Sammanfattning: Autonomous driving is a highly topical research area, where signi cant positiveimpacts on safety and environment can be made, especially in the trucking industry.The vehicles in this industry often consist of a tractor unit combined with a trailer.This project focuses on navigating a model semi-trailer truck through an urbanlikeenvironment. A number of challenges arise from these settings, such as pathplanning and control through sharp turns and crossings, combined with obstacleavoidance. This needs to be done with high precision, considering that the wholearticulated vehicle needs to stay within the bounds of the road. Since the vehiclewill need to take critical decisions quickly, the performance and reliability of thecontrol system is also important.Working towards a real world solution, this project o ers a complete prototypeimplementation in a scaled testbed environment for articulated vehicles. To achievethis, we have mathematically modeled the vehicle, created a path planning algorithmthat takes the trailer into account when calculating a suitable path, and developeda controller that makes the vehicle follow this path. These components have beenintegrated on a single-board computer (Raspberry Pi 3) embedded on the vehicle.The evaluation of the system shows satisfying results, where the prototype is able todo on-the-y path planning while staying within the allowed areas of the test track.The system is also extensible and modi able, and can be extended in future studentprojects.