Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)

被引：83

作者：

Alcala, Eugenio ^{[1
]}

Puig, Vicenc ^{[1
]}

Quevedo, Joseba ^{[1
]}

Rosolia, Ugo ^{[2
]}

机构：

[1] Univ Politecn Cataluna, Ctr Supervis Secur & Automat Control, Rambla St Nebridi 10, Terrassa 08222, Spain

[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94701 USA

来源：

CONTROL ENGINEERING PRACTICE | 2020年 / 95卷

关键词：

Autonomous vehicle; MPC; LPV; Autonomous racing; Self-driving; MANIPULATORS; TRACKING;

D O I：

10.1016/j.conengprac.2019.104270

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller (LPV-MPC) that can be computed online with reduced computational cost. The optimal time problem is solved by an optimal off-line trajectory planner that calculates the best trajectory under the constraints of the circuit. An identification of the system model based on optimization is also carried out. The planning and control scheme is validated in simulation and experimentally in a real platform where the effectiveness of the proposed LPV-MPC is demonstrated.

引用

页数：8

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