Pokročilé algoritmy pro asistované parkování vozidla s přívěsy

Abstract

The thesis deals with the problem of optimal control of nonlinear, underactuated, unstable and nonholonomic systems. This problem also includes a vehicle set consisting of a tractor and trailers. For this system, using the Model-Based Design method, optimal trajectories respecting obstacles are found. To find these trajectories, an initial estimate obtained based on the shortest path found is used. The optimal trajectories are found using nonlinear programming methods. Monitoring of the found trajectories is provided by the proposed state controller. The results of the work are verified by simulations. The main contributions of the work are as follows: 1. Design and simulation verification of control algorithms for a parking assistance system capable of reversing and obstacle avoidance 2. Creation of MIL and SIL simulators on which the control algorithms will be tested in simulation conditions close to the real situation