eprintid: 4022
rev_number: 8
eprint_status: archive
userid: 87
dir: disk0/00/00/40/22
datestamp: 2018-03-12 10:28:15
lastmod: 2018-03-12 10:28:15
status_changed: 2018-03-12 10:28:15
type: conference_item
metadata_visibility: show
creators_name: Verschueren, Robin
creators_name: De Bruyne, Stijn
creators_name: Zanon, Mario
creators_name: Frasch, Janick V.
creators_name: Diehl, Moritz
creators_id: 
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
title: Towards time-optimal race car driving using nonlinear MPC in real-time
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
abstract: 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.
date: 2014
date_type: published
publisher: IEEE
pagerange: 2505-2510
event_title: 53rd Conference on Decision and Control
event_location: Los Angeles, CA, USA
event_dates: December 15-17, 2014
event_type: conference
id_number: doi:10.1109/CDC.2014.7039771
refereed: TRUE
isbn: 978-1-4673-6090-6
issn: 0191-2216
book_title: 53rd IEEE Conference on Decision and Control
official_url: http://doi.org/10.1109/CDC.2014.7039771
citation:   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)  
document_url: http://eprints.imtlucca.it/4022/1/07039771.pdf