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master's thesis
Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:451437
Leko, Dorijan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Leko, D. (2020). Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:451437

Leko, Dorijan. "Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:451437

Leko, Dorijan. "Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:451437

Leko, D. (2020). 'Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 14 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:451437

Leko D. Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 14] Available at: https://urn.nsk.hr/urn:nbn:hr:168:451437

D. Leko, "Optimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:451437

Metadata
TitleOptimalno upravljanje skaliranim modelom autonomnog trkaćeg vozila
Title (english)Optimal control of racing car scaled model
AuthorDorijan Leko
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberŽeljko Jakopović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Razvijeni su kinematički i dinamički modeli vozila za upravljanje bezirano na modelu sustava koji se koriste u autonomnoj vožnji. Također, dan je pregled ostalih modela vozila i modela pneumatika kao i njihove prednosti te ograničenja. U radu je obrađen manevar klizanja analizom ravnotežnog stanja te je opisana ovisnost ulaznih i izlaznih veličina. Zbog složene dinamike manevra, bočno klizanje teško je modelirati i upravljati njime u autonomnim vozilima. Planiranje trajektorije određeno je iz algoritma temeljenog na uzorcima. Algoritmi planiranja i upravljanja provjereni su u simulaciji pomoću programskog jezika MATLAB/Simulink.
Abstract (english)
Kinematic and dynamic vehicle models were developed for model-based control design used in autonomous driving. Also, it provided an overview of vehicle models and tire models and examined the merits and limitations of each model. This thesis also examined the phenomenon of drift by conducting a steady-state analysis and discussing the resulting equilibrium states and inputs. Due to the complex dynamics of maneuvers, transient drift is difficult to model and to control in autonomous vehicles. The reference trajectory is generated from a ruled-based algorithm. The planning and control technique was validated in simulation using MATLAB/Simulink.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:451437
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 10:18:14