%0 Conference Paper
%A Verschueren, Robin
%A De Bruyne, Stijn
%A Zanon, Mario
%A Frasch, Janick V.
%A Diehl, Moritz
%B 53rd Conference on Decision and Control
%C Los Angeles, CA, USA
%D 2014
%F eprints:4022
%I IEEE
%P 2505-2510
%T Towards time-optimal race car driving using nonlinear MPC in real-time
%U http://eprints.imtlucca.it/4022/
%X 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.