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FR
Fraunhofer-Gesellschaft
last mo.

Masterthesis - Model Predictive Path Following with System Identification and Wheel Slip Estimation(m/w/x)

Stuttgart
Full-timeInternshipOn-site

Description

In this master's thesis role, you will focus on enhancing mobile robot navigation by developing a model predictive controller that accounts for surface slip effects. Your work will involve the analysis, integration, validation, and comparison of navigation systems in real-world scenarios.

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Requirements

  • •Field of study in robotics, cybernetics, computer science, mechanical engineering, mechatronics, or comparable
  • •Valid enrollment at a German university in robotics, cybernetics, computer science, mechanical engineering, mechatronics, or similar fields
  • •Knowledge of predictive or model-based control
  • •Experience with ROS
  • •Analytical thinking skills
  • •Enthusiasm for mobile robotics
  • •Fluency in English or German

Education

Currently in higher education

Tasks

  • •Analyze the existing navigation stack
  • •Extend system identification to include slip effects
  • •Derive a parameterized vehicle model from manual drives
  • •Consider different surfaces like sand, asphalt, grass, and gravel
  • •Develop and tune a model predictive controller (MPC)
  • •Integrate the MPC into an existing ROS2 environment
  • •Validate the system in simulation within ROS2
  • •Test on developed robots
  • •Compare performance with existing controllers regarding path error and stability
  • •Document and evaluate results scientifically

Languages

English – Business Fluent

German – Business Fluent

Benefits

Modern Equipment

  • •Cutting-edge technology

Diverse Work

  • •Practical work with robots

Purpose-Driven Work

  • •Responsibility and freedom

Other Benefits

  • •Collaboration with top students
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