Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine
Dvij Kalaria,Qin Lin,John M. Dolan,Dvij Kalaria,Qin Lin,John M. Dolan
Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning, and control. Adding to this complexity is the need to accurately identify vehicle model parameters governing lateral tire slip effects, which can evolve over time du...
