Latest Projects

Stochastic Powertrain-Mobility Optimal Control for High Dynamic Off-Road Driving

• Sponsor:VIPR-GS

Motivation

Advance off-road vehicle performance with stochastic powertrain, control and perception in the system loop

Goal

Local vehicle trajectory planning and control of powertrain, steering, and braking

Realtime stochastic optimal control algorithm

Perception for control in parallel computation

Approach

Integrated simulation of vehicle dynamics, powertrain, and 3D environment 

Stochastic control considering perception uncertainties

Robust vehicle dynamics observer 

Algorithm parallelization and controller-in-the-loop testing

Validation on mRazor and Deep Orange 15