In this week I continued to work in MATLAB adding some fundamental constraints in the MPC: in the Mixed I/O Constraints I specified an upper and a lower bound for the street limits, and also I have added a “fake” constraint if though no obstacle is detected at the nominal operating condition because it’s not possible to change the dimensions of the constraint matrices at run time. In order to complicate the simulation with N obstacles I have made changes to the CustomConstraints so that the ATLASCAR2 can avoid the obstacle by overtaking it to the right: first with only one moving car and later I generalized the algorithm for N random (with respect to the number and the position) obstacles. In the animation, ATLASCAR2 can avoid obstacles by overcoming them on the right and on the left, deciding which is the best way to go.
During these weeks I continued to practice with ROS and C++ doing simple exercises. Moreover these weeks were also dedicated to do some initial research and to write the preliminary report. This was important for me, not only, to introduce myself to the process of autonomous navigation and the projects that have already been developed in this field, but also, to organize my thoughts in tasks to come in this project.
This week marks the beginning of my master thesis.
I started with the installation of the ROS environment (ROS Kinetic Kame) in my personal computer and I did all of the beginner and intermediate ROS tutorials at http://wiki.ros.org/ROS/Tutorials and C++/OpenCV tutorials.
I thought about the thesis proposals and I started to do research about it.
My name is Alberto Franco and I’m going to take my Master’s degree in Automation Engineering at the Università degli Studi di Padova. I’m beginning my Master Thesis in the Laboratório de Automação e Robótica (LAR) at the Mechanical Department of the Universidade de Aveiro. My supervisor is Professor Vitor Santos.
The purpose of this blog is to, not only, document the progress of my master thesis, but also help me organize my work and my tasks for this project.