Course content:
• Selected topics from the field of control of mobile systems. Most notable driver assistant systems, e.g. for parking, evasive maneuvers, autonomous driving.
• Typical topics covered are kinematic models, path planning, nonlinear control
• In the lecture the theoretical foundation and algorithms are provided.
• In the simulation exercise student teams of two are obliged to implement and test the algorithms within the Matlab/Simulink framework.
• Porting the results on a physical model might possible in some semesters, depending on progress and capabilities
Learning objectives:
Subject-specific competencies:
Students
• can derive nonlinear models of vehicle kinematics
• have gained competencies in path planning for nonholonomic systems
• can design stable tracking controller
• can realize a framework for vehicle control algorithm verification
Methodological competencies:
Students
• Are familiar with method for controlling vehicles
• Have an understanding of the general trajectory planning process
• Can realize control algorithms for specific assistant functions
Interdisciplinary competencies:
Students
• Have learned to split complex problems into feasible smaller ones
• Have learned to solve problems in teams |
