Learning objectives
The student should be able to formalise, with suitable mathematical models, trajectory and path planning problems. Moreover, the student should also acquire the basic knowledge about possible solution algorithms for such models
Prerequisites
Basic knowledge of geometry and linear algebra. Basic knowledge about algorithms and data structures.
Course unit content
Graphs. Optimization problems. Optimization algorithms. Path and speed planning problems.
Kinematic and dynamic road vehicles models.
Trajectory planning and control problems for road vehicles.
Full programme
Introduction on graphs: basic concepts and algorithms
- Optimization problems with single and multiple objectives with an introduction to mathematical programming models
- Solution algorithms: dynamic programming method; RRT
- Speed planning problems as optimization problems: mathematical models and solution approach
Elements of planar curves theory.
Basic road vehicles modeling
- Some elements of modeling for mechanical systems
- Kinematic models
- Simple models of engines, brakes, tyres.
- Dynamic models
Some planning problems for road-vehicles
- Trajectory planning and optimization
- Speed planning with energy constraints
- Planning with dynamic constraints
Bibliography
Extended slides made available by the professor
Teaching methods
Lectures in the classroom with exercises and lab sessions
Assessment methods and criteria
Oral exam with presentation of two topics of your choice; group project chosen together with the professors.
Other information
No further information
2030 agenda goals for sustainable development
Yes
