Motion Planning and Control of a Push-Back Vehicle for Aircraft Positioning

Master Thesis Defence

Thejas Babu Sai Babu

Thursday, June 20, 2024, 12:00

Room 01-012, Georges-Köhler-Allee 102, Freiburg 79110, Germany

This thesis aims to automate the pushback manouvres at Airports. This thesis was done at Funke Engineering Gmbh, under the guidance of Prof. Diehl and other members at SYSCOP. Pushback vehicles are frequently used to move aircrafts in an Airport. This process, which is mostly done manually by a driver in coordination with the pilot, can be automated. In this thesis, an OCP solver is developed for efficient path planning taking into consideration the obstacles at the airport. Subsequently, an MPC controller is also developed which can make pushback vehicle drive autonomously using the Moving Horizon Estimation approach. Frameworks like Casadi and Acados are used to achieve these goals. The results are validated through tests and simulations in software.