Optimization-Based Autonomous Racing of 1:43 Scale RC Cars

20 Nov 2017 Alexander Liniger Alexander Domahidi Manfred Morari

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... (read more)

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Categories


  • OPTIMIZATION AND CONTROL
  • ROBOTICS
  • SYSTEMS AND CONTROL