Towards time-optimal race car driving using nonlinear MPC in real-time

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)

PDF - Published Version Restricted to Repository staff only Download (1MB)

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.

Item Type:	Conference or Workshop Item (Paper)
Identification Number:	10.1109/CDC.2014.7039771
Subjects:	T Technology > T Technology (General)
Research Area:	Computer Science and Applications
Depositing User:	Mario Zanon
Date Deposited:	12 Mar 2018 10:28
Last Modified:	12 Mar 2018 10:28
URI:	http://eprints.imtlucca.it/id/eprint/4022

Actions (login required)

Edit Item