This thesis work concerns vehicle robotics, the main objective being the development
of an algorithm for trajectory planning for autonomous vehicles. To ful ll these
requirements, the technique utilized is the so-called Model Predictive Control, which
allows to perform an optimal trajectory generation while guaranteeing other control
requisites such as obstacle avoidance, comfort or safety.
The focus is to assure ride comfort for the passenger in an scenario of obstacle
avoidance, based on previous work on the system.
In this thesis, the vehicle is an electric wheelchair that receives reference values of
velocity from a controller, which applying the MPC technique minimizes a suitable
cost function based on the system and the geometry of the environment for a nite
prediction horizon.
The requirements of ride comfort while ful lling obstacle avoidance are based
on previous study of human body vibrations in the literature, and their e ect to
the comfort sensation of the passenger, emphasizing in determining this sensation
through an objective method.
The performance of the resulting control algorithm is evaluated by means of
simulations to prove the e ectiveness of this approach to the problem.
