A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A Nonlinear Model Predictive Control Strategy for Autonomous Racing of Scale Vehicles

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2022 IEEE International Conference on Systems, Man and Cybernetics (SMC)

ISBN

978-1-6654-5258-8

ISSN

1062-922X

e-ISSN

2577-1655

Počet stran výsledku

6

Strana od-do

100-105

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Prague

Datum konání akce

9. 10. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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