Masterthesis - Model Predictive Path Following with System Identification and Wheel Slip Estimation

• Analysis of the existing navigation stack (path-following controller, base controller) and system identification
• Extension of the existing system identification to include slip effects: Derivation of a parameterized vehicle model from short manual drives, taking into account different surfaces (e.g., sand, asphalt, grass, gravel)
• Developing and tuning an MPC on the identified models
• Integrating into an existing ROS2 environment
• Validating in simulation in an existing ROS2 environment and on our own developed robots
• Comparing with existing controllers in terms of path error and stability
• Documenting, evaluating, and scientifically processing the results

• Valid enrollment at a German university/Hochschule in robotics, cybernetics, computer science, mechanical engineering, mechatronics, or similar fields
• Knowledge of predictive or model-based control is an advantage (e.g. MPC)
• Experience with ROS is an advantage
• Analytical thinking skills
• Enthusiasm for mobile robotics
• Fluent in English or German

The Fraunhofer-Gesellschaft (www.fraunhofer.com) is one of the world's leading organizations for application-oriented research. 75 institutes develop pioneering technologies for our economy and society - more precisely: 32 000 people from technology, science, administration and IT. They know: Anyone who comes to Fraunhofer wants to and can make a difference. For themselves, for us and for the markets of today and tomorrow. Advertisement for the field of study such as: Robotics, Cybernetics, Computer Science, Mechanical Engineering, Mechatronics or comparable. In the "Mobile Robot Navigation" research group, we develop autonomous mobile robots for outdoor applications, such as in agriculture and forestry, in the municipal sector, and in logistics. The focus is on precise and robust navigation in outdoor environments. Classic path-following controllers (e.g., Regulated Pure Pursuit, DWB, TEB) calculate target speeds for a given path, which are converted into wheel commands by a base controller. These approaches often suffer from limited path-following accuracy, high parameterization effort, and inappropriate behavior on slippery surfaces. The goal of the master's thesis is to develop a model predictive path follower controller (MPC) that uses the identified models while taking into account surface-dependent slip effects., With its focus on developing key technologies that are vital for the future and enabling the commercial utilization of this work by business and industry, Fraunhofer plays a central role in the innovation process. As a pioneer and catalyst for groundbreaking developments and scientific excellence, Fraunhofer helps shape society now and in the future.