Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing
Jonathan Becker,Nadine Imholz,Luca Schwarzenbach,Edoardo Ghignone,Nicolas Baumann,Michele Magno,Jonathan Becker,Nadine Imholz,Luca Schwarzenbach,Edoardo Ghignone,Nicolas Baumann,Michele Magno
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational constraint and complexity often limit the use of Model Predictive Control (MPC). As a consequence, geometric controllers are the most frequently deployed controll...
