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dc.contributor.author
Liniger, A.
dc.contributor.author
Domahidi, A.
dc.contributor.author
Morari, M.
dc.date.accessioned
2017-06-11T03:17:16Z
dc.date.available
2017-06-11T03:17:16Z
dc.date.issued
2013
dc.identifier.uri
http://hdl.handle.net/20.500.11850/78411
dc.description.abstract
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize progress on the track subject to the requirement of staying on the track and avoiding opponents. Two different control formulations are presented. The first controller employs a two- level structure, consisting of a path planner and a nonlinear model predictive controller (NMPC) for tracking. The second controller combines both tasks in one nonlinear optimization problem (NLP) following the ideas of contouring control. Linear time varying models obtained by linearization are used to build local approximations of the control NLPs in form of convex quadratic programs (QPs) at each sampling time. The resulting QPs have typical MPC structure and can be solved in the range of milliseconds by recent structure exploiting solvers, which is key to the real-time feasibility of the overall control scheme. Obstacle avoidance is incorporated by means of a high-level corridor planner based on dynamic programming, which generates convex constraints for the controllers according to the current position of opponents and the track layout. The control performance is investigated experimentally using 1:43 scale RC race cars, driven at speeds of more than 3 m/s and in operating regions with saturated rear tire forces (drifting). The algorithms run at 50 Hz sampling rate on embedded computing platforms, demonstrating the real-time feasibility and high performance of optimization based approaches to autonomous racing.
dc.language.iso
en
dc.publisher
ETH Zürich, Institut für Automatik
dc.title
Optimization Based Autonomous Racing of 1:43 Scale RC Cars
dc.type
Report
ethz.journal.title
Report Institute of Automatic Control, ETH Zürich
ethz.journal.volume
AUT13-08
ethz.publication.place
Zürich
ethz.publication.status
published
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich, direkt::00012 - Lehre und Forschung, direkt::00007 - Departemente, direkt::02140 - Departement Informationstechnologie und Elektrotechnik / Department of Information Technology and Electrical Engineering::02650 - Institut für Automatik (IfA) / Automatic Control Laboratory (IfA)::03416 - Morari, Manfred (emeritus)
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich, direkt::00012 - Lehre und Forschung, direkt::00007 - Departemente, direkt::02140 - Departement Informationstechnologie und Elektrotechnik / Department of Information Technology and Electrical Engineering::02650 - Institut für Automatik (IfA) / Automatic Control Laboratory (IfA)::03416 - Morari, Manfred (emeritus)
ethz.date.deposited
2017-06-11T03:19:02Z
ethz.source
ECIT
ethz.identifier.importid
imp5936517b8bcc488852
ethz.ecitpid
pub:123395
ethz.eth
yes
ethz.availability
Metadata only
ethz.rosetta.installDate
2017-07-13T00:48:43Z
ethz.rosetta.lastUpdated
2017-12-21T18:28:13Z
ethz.rosetta.versionExported
true
ethz.COinS
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