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Titel:

A Tube-MPC Approach to Autonomous Multi-Vehicle Racing on High-Speed Ovals

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Wischnewski, A.; Herrmann, T.; Werner, F.; Lohmann, B.
Abstract:
Autonomous vehicle racing has emerged as vibrant and innovative technology development and demonstration platform in recent years. Universities and companies demonstrate their achievements on various vehicles - from 1:10th to full-scale prototypes. One of those platforms is the Dallara AV-21, the spec-vehicle for the Indy Autonomous Challenge. This paper outlines the robust model predictive control (MPC) concept used within the software stack of the TUM Autonomous Motorsport team. It is based on...     »
Stichworte:
autonomous driving; Computational modeling; control; Heuristic algorithms; MPC; Optimization; robust; Tires; Trajectory; Uncdertainty; Vehicle dynamics
Dewey Dezimalklassifikation:
620 Ingenieurwissenschaften
Zeitschriftentitel:
IEEE Transactions on Intelligent Vehicles
Jahr:
2022
Jahr / Monat:
2022-04
Quartal:
2. Quartal
Monat:
Apr
Heft / Issue:
Vol. 8, Issue 1
Seitenangaben Beitrag:
pp. 368-378
Nachgewiesen in:
Scopus; Web of Science
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/TIV.2022.3169986
Verlag / Institution:
Institute of Electrical and Electronics Engineers Inc.
Print-ISSN:
2379-8858
E-ISSN:
2379-8904
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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