Sökning: "rcv kth"

Visar resultat 1 - 5 av 18 uppsatser innehållade orden rcv kth.

1. 1. Control of an Over-Actuated Vehicle for Autonomous Driving and Energy Optimization : Development of a cascade controller to solve the control allocation problem in real-time on an autonomous driving vehicle

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Gianmarco Grandi; [2023]
   Nyckelord :LTV-MPC Linear Time-Varying Model Predictive Controller ; Trajectory following; Energy consumption; Vehicle stability; Vehicle model; Real-time performance; LTV-MPC Controllo a predizione del modello lineare tempo variabile ; Inseguimento di traiettoria; Consumo energetico; Stabilità del veicolo; Modello del veicolo; Prestazioni in tempo reale; LTV-MPC Linjär tidsvariabel modellförutsägande styrning ; spårföljning; energiförbrukning; fordonsstabilitet; fordonsmodell; prestanda i realtid;

   Sammanfattning : An Over-Actuated (OA) vehicle is a system that presents more control variables than degrees of freedom. Therefore, more than one configuration of the control input can drive the system to a desired state in the state space, and this redundancy can be exploited to fulfill other tasks or solve further problems. LÄS MER

3. 2. Design and implementation of brake and steering control functions for an over-actuated vehicle platform

   Master-uppsats, KTH/Fordonsdynamik

   Författare :Ziwei Lu; Tao Liu; [2021]
   Nyckelord :Brake Blending; Over-actuated system; Fault tolerant function; Brake force distribution; Bromsblandning; Övermanövrerat system; Feltolerant funktion; Bromskraftsfördelning;

   Sammanfattning : This thesis project is a comprehensive practice to improve a research concept vehicle in both hardware and software aspects. The hardware of the friction brake system is improved to have higher stability and accuracy. The brake force distribution function is implemented to optimize the brake control system. LÄS MER

4. 3. Flödessimulering och karossdesign för RCV-D Hur påverkar formen av karossen luftmotståndet på en bil? : Hur påverkar formen av karossen luftmotståndet på en bil?

   Kandidat-uppsats, KTH/Skolan för teknikvetenskap (SCI)

   Författare :Robert Siridol-Kjellberg; Linn Siridol-Kjellberg; [2021]
   Nyckelord :;

   Sammanfattning : Research Concept Vehicle (RCV) är ett fordon på vilken det utförs experiment för att värdera och verifiera forskningsresultat. Fordonet har utvecklats på Integrated Transport Research Lab (ITRL) vid KTH. LÄS MER

5. 4. Design and Analysis of Electric Over-actuated Vehicle Suspension

   Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Ankith Suresh Athrey; [2020]
   Nyckelord :RCV; ITRL; MBD; CAD; FEM; RCV; ITRL; MBD; CAD; FEM;

   Sammanfattning : The main aim of this master thesis is to improve the performance of the Research Concept Vehicle (RCV). The RCV is an electric over-actuated vehicle developed at Integrated Transport Research Lab (ITRL) at KTH Royal Institute of Technology. The vehicle steer, camber, drive, and brake on each wheel of the vehicle. LÄS MER

7. 5. Robust Localization of Research Concept Vehicle (RCV) in Large Scale Environment

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Anchit Raghuram; [2018]
   Nyckelord :Localization; Normal Distribution Transform; Pose Fusion; MCL; Monte-Carlo Localization; GPS; Robust Localization; SLAM;

   Sammanfattning : Autonomous vehicles in the recent era are robust vehicles that have the capability to drive themselves without human involvement using sensors and Simultaneous Localization and Mapping algorithms, which helps the vehicle gain an understanding of its environment while driving with the help of laser scanners (Velodyne), IMU and GPS to collect data and solidify the foundation for locating itself in an unknown environment. Various methods were studied and have been tested for increasing the efficiency of registration and optimization over the years but the implementation of the NDT library for mapping and localization have been found to be fast and more accurate as compared to conventional methods. LÄS MER