relation: http://eprints.imtlucca.it/4022/
title: Towards time-optimal race car driving using nonlinear MPC in real-time
creator: Verschueren, Robin
creator: De Bruyne, Stijn
creator: Zanon, Mario
creator: Frasch, Janick V.
creator: Diehl, Moritz
subject: T Technology (General)
description: This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Control inputs for the vehicle are computed from a nonlinear model predictive control (MPC) scheme. The time-optimal objective is reformulated such that it can be tackled by existing efficient algorithms for real-time nonlinear MPC that build on the generalized Gauss-Newton method. We numerically validate our approach in simulations and present a real-world hardware setup of miniature race cars that is used for an experimental comparison of different approaches.
publisher: IEEE
date: 2014
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4022/1/07039771.pdf
identifier:   Verschueren, Robin and De Bruyne, Stijn and Zanon, Mario and Frasch, Janick V. and Diehl, Moritz  Towards time-optimal race car driving using nonlinear MPC in real-time.  In: 53rd Conference on Decision and Control, December 15-17, 2014, Los Angeles, CA, USA pp. 2505-2510. ISSN 0191-2216. ISBN 978-1-4673-6090-6.      (2014)  
relation: http://doi.org/10.1109/CDC.2014.7039771
relation: doi:10.1109/CDC.2014.7039771