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

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.

What you will do

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

What you bring to the table

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

What you can expect

Cutting-edge technology in the field of mobile outdoor robotics
Practical work with our robots in Stuttgart
Responsibility and freedom to implement your own ideas
Collaboration with the best students in their field

We value and promote the diversity of our employees' skills and therefore welcome all applications - regardless of age, gender, nationality, ethnic and social origin, religion, ideology, disability, sexual orientation and identity. Severely disabled persons are given preference in the event of equal suitability.

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.

Interested? Apply online now. We look forward to getting to know you!

Frau Jennifer Leppich

Recruiting

+49 711 970-1415

jennifer.leppich@ipa.fraunhofer.de

Fraunhofer Institute for Manufacturing Engineering and Automation IPA

www.ipa.fraunhofer.de

Requisition Number: 82691 Application Deadline:

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