Hybrid modelling and reachability on autonomous RC-Cars
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Author / Producer
Date
2012
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
In this paper we apply reachability analysis to design a controller for an RC-car to drive autonomously on a given circuit. We introduce a hybrid simplification technique to reduce the order of the model; this is crucial for reachability analysis. For a successful implementation on a real system the control problem is divided into two parts: a reachability control strategy is derived for the simplified hybrid model, and a gain-scheduled controller lets the full system track the simplified behaviour. We propose a heuristic algorithm to synthesise a hybrid feedback policy. By considering stochasticity in the model, we improve the performance of the controller which is finally validated on a real physical system.
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Publication status
published
Editor
Book title
Proceedings of the 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 2012)
Journal / series
Volume
45 (9)
Pages / Article No.
430 - 435
Publisher
Elsevier
Event
4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 2012)
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Methods
Software
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Organisational unit
03751 - Lygeros, John / Lygeros, John