Anton Yanovich
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Robotics Control Systems Research

Self-Driving Car & Drone Controller

Autonomous vehicle control with PID, MPC, and fault-tolerant drone systems

Função

Control Systems Engineer

Duração

2 months (Nov 2023 - Dec 2023)

Tecnologias

PID, MPC, A-star, EKF, MRAC, Webots, Control Theory

Overview

Implemented multiple control strategies (PID, pole placement, MPC) for autonomous vehicle simulation and fault-tolerant drone control with impaired motor function.

Problem

Autonomous systems require robust control across diverse scenarios. Vehicle navigation needs path planning with localization, while drones must handle motor failures.

Solution

Built autonomous vehicle controller in Webots with A-star pathfinding and Extended Kalman Filter for SLAM. Designed Model Reference Adaptive Control (MRAC) and MPC for drone fault tolerance with impaired motor.

Impact

  • Multi-strategy control: PID, pole placement, MPC implementation
  • Robust localization: A-star pathfinding with EKF SLAM
  • Fault-tolerant: Drone control with motor impairment
  • Validated simulation: Webots testing across scenarios
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