Planning and control of an autonomous vehicle using Takagi-Sugeno and MPC techniques.
Tutor / director / evaluatorPuig Cayuela, Vicenç
Document typeMaster thesis
Rights accessOpen Access
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.