eprintid: 4007
rev_number: 8
eprint_status: archive
userid: 87
dir: disk0/00/00/40/07
datestamp: 2018-03-09 14:15:46
lastmod: 2018-03-09 14:15:46
status_changed: 2018-03-09 14:15:46
type: conference_item
metadata_visibility: show
creators_name: Verschueren, Robin
creators_name: Zanon, Mario
creators_name: Quirynen, Rien
creators_name: Diehl, Moritz
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
title: Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
abstract: This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.
date: 2016
date_type: published
publisher: IEEE
pagerange: 141-147
event_title: European Control Conference
event_location: Aalborg, Denmark
event_dates: June 29 - July 1, 2016
event_type: conference
id_number: doi:10.1109/ECC.2016.7810277
refereed: TRUE
isbn: 978-1-5090-2591-6
book_title: 2016 European Control Conference (ECC)
official_url: http://doi.org/10.1109/ECC.2016.7810277
citation:   Verschueren, Robin and Zanon, Mario and Quirynen, Rien and Diehl, Moritz  Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm.  In: European Control Conference, June 29 - July 1, 2016, Aalborg, Denmark pp. 141-147.  ISBN 978-1-5090-2591-6.      (2016)  
document_url: http://eprints.imtlucca.it/4007/1/07810277.pdf