Prior research has shown that tracking performance can be improved in a human-in-the-loop control task by inserting a robot in between the human and the environment and utilizing Model Predictive Control (MPC) with a short horizon to assist control. The goal of this project is to extend this idea to the more complex task of making lane changes on a bicycle.

In a prior MSc project, the student implemented a real-time MPC controller on our steer-by-wire bicycle that was synced with a virtual lane change task. We tested the ability of the controller to help improve the performance of the riders, but did not find a positive result. This is most likely due to a number of shortcomings in the hardware and experimental design. The goal of this project would be to alleviate those shortcomings and to perform a larger scale experiment to test the capabilities of the MPC based steering assist.

See our paper on the topic for a description of the work you will build upon:

Model Predictive Control-based haptic steering assistance to enhance motor learning of a bicycling task: A pilot study, https://doi.org/10.31224/2811

How To Apply

If you would like to apply for this project, please send an approximately half page letter explaining your motivations and interest in the lab and project, CV or resume, a list of courses you've taken, the name of your MSc track, and any other relevant information to j.k.moore@tudelft.nl.