Model Based Energy Management and State Estimation for the Robotic Electric Vehicle ROboMObil
Jonathan Brembeck · elib (German Aerospace Center) · 2018
An innovative energy management framework – focusing on the spatial vehicle motion – is developed and evaluated by simulations with realistic test scenarios using a multiphysical Modelica model of ROboMObil. Additionally, a novel method is proposed, and evaluated with ROboMObil, to automatically construct real-time capable, discrete-time, nonlinear state estimation algorithms with constraint handling from multi-physical, continuous-time Modelica models.