A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00361280" target="_blank" >RIV/68407700:21230/22:00361280 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/SMC53654.2022.9945279" target="_blank" >https://doi.org/10.1109/SMC53654.2022.9945279</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/SMC53654.2022.9945279" target="_blank" >10.1109/SMC53654.2022.9945279</a>
Alternative languages
Result language
angličtina
Original language name
A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles
Original language description
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while keeping the vehicle within track boundaries. The optimization problem considers both the vehicle’s actuation limits and the lateral and longitudinal forces acting on the car modeled through the Pacejka’s magic formula and a simple drivetrain model. Furthermore, the approach allows to safely race on a track populated by static obstacles generating collision-free trajectories and tracking them while enhancing the lap timing performance. Gazebo simulations using the F1/10 simulator showcase the feasibility and validity of the proposed control strategy. The code is released as open-source making it possible to replicate the obtained results.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 IEEE International Conference on Systems, Man and Cybernetics (SMC)
ISBN
978-1-6654-5258-8
ISSN
1062-922X
e-ISSN
2577-1655
Number of pages
6
Pages from-to
100-105
Publisher name
IEEE
Place of publication
Piscataway
Event location
Prague
Event date
Oct 9, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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