Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm

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)

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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.

Item Type:	Conference or Workshop Item (Paper)
Identification Number:	https://doi.org/10.1109/ECC.2016.7810277
Subjects:	T Technology > T Technology (General)
Research Area:	Computer Science and Applications
Depositing User:	Mario Zanon
Date Deposited:	09 Mar 2018 14:15
Last Modified:	09 Mar 2018 14:15
URI:	http://eprints.imtlucca.it/id/eprint/4007

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