Abstract:
This paper presents a real-time Model Predictive Controller (MPC) for racing trajectory optimization. The vehicle must respect its dynamic limitations and the track bound...Show MoreMetadata
Abstract:
This paper presents a real-time Model Predictive Controller (MPC) for racing trajectory optimization. The vehicle must respect its dynamic limitations and the track boundaries while simultaneously minimizing lap times. Due to the track boundary constraints, the feasible set of the optimization problem is non-convex. This paper presents the method of sequential linearization to solve this non-convex optimization problem.
Published in: 2018 IEEE Intelligent Vehicles Symposium (IV)
Date of Conference: 26-30 June 2018
Date Added to IEEE Xplore: 21 October 2018
ISBN Information:
Print on Demand(PoD) ISSN: 1931-0587