Optimization‐based autonomous racing of 1:43 scale RC cars

DOI10.1002/oca.2123zbMath1330.93094arXiv1711.07300OpenAlexW1578293866MaRDI QIDQ5745040

Alexander Liniger, Alexander Domahidi, Manfred Morari

Publication date: 11 February 2016

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1711.07300

zbMATH Keywords

vehicle controlnonlinear model predictive controldrift controlfast model predictive controlnonlinear receding horizon controlautonomous racing

Mathematics Subject Classification ID

Related Items (8)

\texttt{acados} -- a modular open-source framework for fast embedded optimal control ⋮ Time-distributed optimization for real-time model predictive control: stability, robustness, and constraint satisfaction ⋮ Continuous‐time receding‐horizon reinforcement learning and its application to path‐tracking control of autonomous ground vehicles ⋮ Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC ⋮ Space splitting convexification: a local solution method for nonconvex optimal control problems ⋮ Analysis of driving styles of a GP2 car via minimum lap-time direct trajectory optimization ⋮ Predictive control for embedded systems ⋮ Low-Complexity Method for Hybrid MPC with Local Guarantees

Cites Work

• Hybrid parameter-varying model predictive control for autonomous vehicle steering
• Nonlinear Model Predictive Path-Following Control
• A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control

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