Real-time optimal control of an autonomous RC car with minimum-time maneuvers and a novel kineto-dynamical model
Edoardo Pagot,Mattia Piccinini,Francesco Biral,Edoardo Pagot,Mattia Piccinini,Francesco Biral
In this paper, we present a real-time non-linear model-predictive control (NMPC) framework to perform minimum-time motion planning for autonomous racing cars. We introduce an innovative kineto-dynamical vehicle model, able to accurately predict non-linear longitudinal and lateral vehicle dynamics. The main parameters of this vehicle model can be tuned with only experimental or simulated maneuvers,...
