This was a project course (CDIO) in automatic control at the Department of Electrical Engineering (ISY) at Linköping University. The project group consisted of seven master students from the Applied Physics and Electrical Engineering program.
The system hardware consists of a race track, two infrared cameras, two 1:43 scale radio controlled cars and a 1:32 scale radio controlled truck, which can be controlled both manually and autonomously.
Autonomous driving truck: A Pure Pursuit controller has been implemented on the truck.
New autonomous control for the car: The car now uses a controller based on Lyapunov theory, replacing the previously existing PID controller.
Simulator: The software V-rep has been used to create a simulation environment of the track and the cars.
Planner: A planning algorithm has been implemented by using the previously developed obstacle detection system. The car can compute the optimal trajectory to overtake a static or a moving obstacle, such as the truck, when possible.
Course code / Course:
TSRT10 / Control Project Labortory, CDIO
Kristoffer Lundahl and Niclas Evestedt