%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.
%L eprints4022
%D 2014
%A Robin Verschueren
%A Stijn De Bruyne
%A Mario Zanon
%A Janick V. Frasch
%A Moritz Diehl
%R doi:10.1109/CDC.2014.7039771
%C Los Angeles, CA, USA
%B 53rd IEEE Conference on Decision and Control
%T Towards time-optimal race car driving using nonlinear MPC in real-time
%P 2505-2510
%I IEEE