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Electrical and Electronics Commons

Open Access. Powered by Scholars. Published by Universities.®

2020

Path tracking using LQG controller

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Full-Text Articles in Electrical and Electronics

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula Jan 2020

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, …