Sökning: "clothoids"

Hittade 3 avhandlingar innehållade ordet clothoids.

  1. 1. Predictive control for autonomous driving : With experimental evaluation on a heavy-duty construction truck

    Författare :Pedro Lima; Bo Wahlberg; Jonas Mårtensson; Alberto Bemporad; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Autonomous vehicles; model predictive control; automatic control; heavy-duty vehicles; mining; trucks; clothoids; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Autonomous vehicles is a rapidly expanding field, and promise to play an important role in society. In more isolated environments, vehicle automation can bring significant efficiency and production benefits and it eliminates repetitive jobs that can lead to inattention and accidents. LÄS MER

  3. 2. Optimisation of horizontal alignments for railways - Procedures involving evaluation of dynamic vehicle response

    Författare :Björn Kufver; KTH; []
    Nyckelord :Railway; track geometry; alignment; cant; climbing ratios; clothoids; guiding forces; passenger comfort; Pct; superelevation ramps; simulation; track shift forces; track vehicle interaction; transition curves; vehicle dynamics; wheel rail forces;

    Sammanfattning : This doctoral thesis summarises and deepens eightpublications on a project concerning railway alignments.The thesis presents an approach to definingequally costlyalignment alternatives. LÄS MER

  4. 3. Optimization-Based Motion Planning and Model Predictive Control for Autonomous Driving : With Experimental Evaluation on a Heavy-Duty Construction Truck

    Författare :Pedro F. Lima; Bo Wahlberg; Paolo Falcone; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic Control; Autonomous Driving; Model Predictive Control; Motion Planning; Optimization; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : This thesis addresses smooth motion planning and path following control of autonomous large and heavy industrial vehicles, such as trucks and buses, using optimization-based techniques. Autonomous driving is a rapidly expanding technology that promises to play an important role in future society, since it aims at more energy efficient, more convenient, and safer transport systems. LÄS MER