Model Predictive Control for Trajectory following of Automated Guided Vehicles

Master thesis defense

Akash John Subash

EK robotics

Friday, February 02, 2024, 11:00 - 12:00

Room 02-012, Georges-Köhler Allee 102, Freiburg 79110, Germany

This thesis proposes a control scheme for an Automated Guided Vehicle (AGV) at ek robotics GmbH. 
The goal of this work is to enable a tricycle kinematic vehicle to perform optimal detours around obstacles while tracking a predefined trajectory and considering motion constraints in a warehouse environment, using Model Predictive Control (MPC).
Motivated to demonstrate the real-time feasibility of the control scheme, the implementation in acados  is validated in simulation and aboard a test vehicle.


Zoom login for online participants:
Meeting-ID: 627 9173 7415
Password: syscop2021