User: Guest  Login
Title:

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

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
Keywords:
autonomous driving; Computational modeling; control; Heuristic algorithms; MPC; Optimization; robust; Tires; Trajectory; Uncdertainty; Vehicle dynamics
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
IEEE Transactions on Intelligent Vehicles
Year:
2022
Year / month:
2022-04
Quarter:
2. Quartal
Month:
Apr
Journal issue:
Vol. 8, Issue 1
Pages contribution:
pp. 368-378
Covered by:
Scopus; Web of Science
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/TIV.2022.3169986
Publisher:
Institute of Electrical and Electronics Engineers Inc.
Print-ISSN:
2379-8858
E-ISSN:
2379-8904
TUM Institution:
Lehrstuhl für Regelungstechnik
 BibTeX