A nonlinear model predictive control strategy for autonomous racing of scale vehicles

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksA Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while keeping the vehicle within track boundaries. The optimization problem considers both the vehicle's actuation limits and the lateral and longitudinal forces acting on the car modeled through the Pacejka's magic formula and a simple drivetrain model. Furthermore, the approach allows to safely race on a track populated by static obstacles generating collision-free trajectories and tracking them while enhancing the lap timing performance. Gazebo simulations using the F1/10 simulator showcase the feasibility and validity of the proposed control strategy. The code is released as open-source making it possible to replicate the obtained results.Peer ReviewedPostprint (author's final draft

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Acknowledgements: The Panel wishes to thank the members of the Working Group on Flavourings: Ulla Beckman Sundh, Leon Brimer, Karl-Heinz Engel, Paul Fowler, Rainer Gürtler, Trine Husøy, Wim Mennes and Gerard Mulder for the preparatory work on this scientific opinion and the Working Group on Genotoxicity: Mona-Lise Binderup, Claudia Bolognesi, Riccardo Crebelli, Rainer Gürtler, Francesca Marcon, Daniel Marzin and Pasquale Mosesso for the preparatory work on this scientific opinion and the hearing experts: Vibe Beltoft and Karin Nørby, and EFSA staff: Maria Anastassiadou, Maria Carfi and Annamaria Rossi for the support provided to this scientific opinion.Publisher PD

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