6533b834fe1ef96bd129d791

RESEARCH PRODUCT

Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars

Danilo CaporaleAndrea CortiLucia PallottinoAdriano FagioliniMassimo GuiggianAntonio BicchiFederico MassaAlessandro SettimiFrancesco Amerotti

subject

0209 industrial biotechnologyAutomotive self-driving car control roboticsbusiness.industryComputer scienceScale (chemistry)Control (management)Automotive industryRobotics02 engineering and technologyTrack (rail transport)Vehicle dynamicsModel predictive control020901 industrial engineering & automationSettore ING-INF/04 - Automatica020204 information systems0202 electrical engineering electronic engineering information engineeringSystems engineeringArtificial intelligencebusiness

description

Autonomous vehicles are undergoing a rapid development thanks to advances in perception, planning and control methods and technologies achieved in the last two decades. Moreover, the lowering costs of sensors and computing platforms are attracting industrial entities, empowering the integration and development of innovative solutions for civilian use. Still, the development of autonomous racing cars has been confined mainly to laboratory studies and small to middle scale vehicles. This paper tackles the development of a planning and control framework for an electric full scale autonomous racing car, which is an absolute novelty in the literature, upon which we report our preliminary experiments and perspectives on future work. Our system leverages real time Nonlinear Model Predictive Control to track a pre-planned racing line. We describe the whole control system architecture including the mapping and localization methods employed.

yearjournalcountryeditionlanguage
2019-05-012019 International Conference on Robotics and Automation (ICRA)
https://doi.org/10.1109/icra.2019.8793882