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Bani, Klait (author)This thesis introduces a novel model predictive controller (MPC) that integrates both torque vectoring and path following into one controller. Due to a need to improve vehicle safety, systems are being developed in order to improve vehicle handling. One system that is able to improve the vehicle handling is torque vectoring (TV). With torque...master thesis 2023
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van der Drift, Victor (author)This thesis presents a comprehensive approach to integrating a trajectory planner and follower for autonomous vehicles (AVs) using model predictive contouring control (MPCC). The planner generates collision-free trajectories with a kinematic bicycle model, while the follower tracks them using a dynamic bicycle model with a smaller integration...master thesis 2023
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Meijer, Stan (author)Abstract—This paper proposes a Nonlinear Model Predictive Control (NMPC) application for automated drifting, with exper- imental verification on a standard production vehicle, without hardware modifications. The controller stabilizes the vehicle on a high sideslip angle, which implies an equilibrium condition beyond tyre friction limits. The...master thesis 2023
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Voogd, Kevin (author)Autonomous driving is attracting growing attention because of the potential advantages it poses on safety, leisure, energy efficiency, reduced emissions, and traffic reduction. Current research is focusing on areas related to artificial intelligence to solve complex planning and decision-making tasks, object detection, or simultaneous...master thesis 2022
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Lenssen, Daan (author)This thesis presents a new MPC controller which integrates path tracking and stability control into one controller. Previously these tasks were done by separate controllers, where one controller handled the path tracking while another controller ensured the vehicle was kept in the stable operating region. A drawback of this method is that the...master thesis 2022
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Culmone, C. (author), Jager, D.J. (author), Breedveld, P. (author)With the increase in Natural Orifice Transluminal Endoscopic Surgery procedures, there is an increasing demand for surgical instruments with additional degrees of freedom, able to travel along tortuous pathways and guarantee dexterity and high accuracy without compromising the surrounding environment. The implementation of follow-the-leader...journal article 2022
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Doelman, Michiel (author)Background: Accessing targets through complex trajectories with multiple curves in series, remains challenging today in many application fields, like surgery, the Fukushima disaster, maintenance of complex tube networks, mining and space operations. Current steerable devices require control of an extensive amount of segments, while moving as a...master thesis 2021
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Yu, Chuanyang (author), Zheng, Y. (author), Shyrokau, B. (author), Ivanov, Valentin (author)Many studies have been recently exploited to discuss the path following control algorithms for automated vehicles using various control techniques. However, path following algorithm considering the possibility of automated vehicles with rear wheel steering (RWS) is still less investigated. In this study, we implemented nonlinear model...conference paper 2021
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van Unen, Wouter (author)In the automotive industry, automation is on the rise and it increases safety while decreasing costs. Improved sensor performance and greater computing power steers the future of the shipping industry in the same direction. Avoiding obstacles in close proximity is one of the current challenges. This research provides a generic and open- source...master thesis 2020
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Fari, S. (author), Wang, X. (author), Roy, S. (author), Baldi, S. (author)The actual performance of model-based path-following methods for unmanned aerial vehicles (UAVs) shows considerable dependence on the wind knowledge and on the fidelity of the dynamic model used for design. This study analyzes and demonstrates the performance of an adaptive vector field (VF) control law which can compensate for the lack of...journal article 2020
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Piaggio, B. (author), Garofano, V. (author), Donnarumma, S. (author), Alessandri, A. (author), Negenborn, R.R. (author), Martelli, M. (author)This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path....journal article 2020
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Pandit, Arvind (author)Among the trends that are going to shape the automotive industry in the coming years, autonomous vehicles stand out as having the potential to completely change the automotive industry as we know it. One of the critical tasks in this framework includes robust execution of the steering control action to maintain a pre-defined path.<br/><br/>The...master thesis 2019
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Liu, Chenguang (author), Zheng, Huarong (author), Negenborn, R.R. (author), Chu, Xiumin (author), Xie, Shuo (author)Since vessel dynamics could vary during maneuvering because of load changes, speed changing, environmental disturbances, aging of mechanism, etc., the performance of model-based path following control may be degraded if the controller uses the same motion model all the time. This article proposes an adaptive path following control method...journal article 2019
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Wang, L. (author), Wu, Qing (author), Liu, Jialun (author), Li, Shijie (author), Negenborn, R.R. (author)Intelligent motion control is one of the key technologies of ships. This paper studies the application of Adaptive Mutation Beetle Particle Swarm (AMBPS)-PID algorithm in ship motion control. Firstly, the ship MMG model is established. Then the BAS algorithm is introduced, and AMBPS algorithm is improved and designed on this basis. Secondly,...journal article 2019
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Wan, Shiyu (author)In recent years, enormous progress has been made in the field of automated driving. As a consequence, automated driving technologies are becoming increasingly popular. Research on comfort for autonomous vehicles, however, is still limited and unexplored. Some researchers address the comfort issue in path planning by velocity profiles, which...master thesis 2018
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Sharma, Suresh (author)This work presents a vector field based path following method to be used by Multirotor Unmanned Aerial Vehicles (UAVs). The desired path to be followed is a smooth planar path defined in its implicit form. The vector field around the desired path is then constructed using the implicit function, such that the integral curves of the vector field...master thesis 2018
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Kapitanyuk, Yuri A. (author), Proskurnikov, A.V. (author), Cao, Ming (author)In this paper, we propose an algorithm for path-following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a...journal article 2018
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Lu, Z. (author), Shyrokau, B. (author), Boulkroune, Boulaid (author), Van Aalst, Sebastiaan (author), Happee, R. (author)Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of...conference paper 2018
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de Winter, Alexander (author), Baldi, S. (author)This work is meant to report on activities at TU Delft on the design and implementation of a path-following system for an autonomous Toyota Prius. The design encompasses: finding the vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal controllers for steering and acceleration, respectively. The...journal article 2018
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Hassanain, Omar (author)The ever-increasing road transport demand in the developing and the developed world has resulted in road-traffic networks nearing maximum capacity. Traditional approaches to this problem, such as increasing road capacity, do not offer long-term solutions. Combined with rising environmental concerns, the demand for smarter solutions has never...master thesis 2017
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