Edoardo Pagot

Real-time optimal control of an autonomous RC car with minimum-time maneuvers and a novel kineto-dynamical model

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. T…