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Time-optimal Race Car Driving using an Online Exact Hessian based Nonlinear MPC Algorithm

Robin Verschueren ; Mario Zanon (Institutionen för signaler och system, Mekatronik) ; Rien Quirynen ; Moritz Diehl
Proceedings of the European Control Conference p. 141-147. (2016)
[Konferensbidrag, refereegranskat]

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.

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Denna post skapades 2017-01-21. Senast ändrad 2017-08-11.
CPL Pubid: 247575


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)



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