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master's thesis
Modelsko prediktivno upravljanje za autonomne utrke
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:084009
Rastovski, Robert
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Rastovski, R. (2023). Modelsko prediktivno upravljanje za autonomne utrke (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:084009

Rastovski, Robert. "Modelsko prediktivno upravljanje za autonomne utrke." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:084009

Rastovski, Robert. "Modelsko prediktivno upravljanje za autonomne utrke." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:084009

Rastovski, R. (2023). 'Modelsko prediktivno upravljanje za autonomne utrke', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:084009

Rastovski R. Modelsko prediktivno upravljanje za autonomne utrke [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:084009

R. Rastovski, "Modelsko prediktivno upravljanje za autonomne utrke", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:084009

Metadata
TitleModelsko prediktivno upravljanje za autonomne utrke
Title (english)Model predictice control for autonomous racing
AuthorRobert Rastovski
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-11, Croatia
Abstract
Modelsko prediktivno upravljane za autonomne utrke optimizacijski je problem koji se temelji na rješavanju nelinearnog kvadratnog problema. Problem se postavlja definiranjem korištenog modela te postavljanjem unaprijed definiranih ograničenja. Korištena su dva modela: kinematički model i dinamički model. Dinamički uzima u obzir proklizavanje guma te prisutnost određenih sila. Nakon postavljanja problema, koristi se HPIPM okruženje koje rješava kvadratni problem te računa optimalne kontrolne varijable. Prva kontrolna varijabla se primjenjuje na trenutno stanje te se postupak ponavlja. Ponašanje automobila pod utjecajem izračunatih kontrolnih varijabli ja zatim simulirano te grafički prikazano.
Abstract (english)
Model predictive control for autonomous racing is an optimization problem based on solving a nonlinear quadratic problem. The problem is formulated by defining the used model and setting predefined constraints. Two models are used: a kinematic model and a dynamic model. The dynamic model takes into account tire slip and the presence of certain forces. After formulating the problem, the HPIPM environment is used to solve the quadratic problem and calculate the optimal control variables. The first control variable is applied to the current state, and the process is repeated. The behavior of the car under the influence of the calculated control variables is then simulated and graphically displayed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:084009
Study programmeTitle: Information and Communication Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-10-11 10:19:28