Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions
Gennaro Notomista,Mingyu Wang,Mac Schwager,Magnus Egerstedt,Gennaro Notomista,Mingyu Wang,Mac Schwager,Magnus Egerstedt
In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the ego vehicle is based on a Sensitivity-ENhanced NAsh equilibrium seeking (SENNA) method, which uses an iterated best response algorithm in order to optimize for a trajectory in a two-car...
