Autonomous Racing using Learning Model Predictive Control

Ugo Rosolia; Ashwin Carvalho; Francesco Borrelli

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arXiv · 1610.06534

Autonomous Racing using Learning Model Predictive Control

Ugo Rosolia·Ashwin Carvalho·Francesco Borrelli

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Abstract

A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve its performance while satisfying safety requirements. Moreover, a system identification technique is proposed to estimate the vehicle dynamics. Simulation results with the high fidelity simulator software CarSim show the effectiveness of the proposed control scheme.

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Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli. 2016-10-20. Autonomous Racing using Learning Model Predictive Control. https://arxiv.org/abs/1610.06534

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