Autonomous Racing using Learning Model Predictive Control

摘要

A novel learning Model Predictive Control technique is applied to theautonomous racing problem. The goal of the controller is to minimize the timeto complete a lap. The proposed control strategy uses the data from previouslaps to improve its performance while satisfying safety requirements. Moreover,a system identification technique is proposed to estimate the vehicle dynamics.Simulation results with the high fidelity simulator software CarSim show theeffectiveness of the proposed control scheme.