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• W2989394062 endingPage "2719" @default.
• W2989394062 startingPage "2713" @default.
• W2989394062 abstract "We present a learning model predictive controller (LMPC) for autonomous racing. We model the autonomous racing problem as a minimum time iterative control task, where an iteration corresponds to a lap. The system trajectory and input sequence of each lap are stored and used to systematically update the controller for the next lap. In the proposed approach, the race time does not increase at each iteration. The first contribution is to propose a local LMPC which reduces the computational burden associated with existing LMPC strategies. In particular, we show how to construct a local safe set and approximation to the value function, using a subset of the stored data. The second contribution is to present a system identification strategy for the autonomous racing iterative control task. We use data from previous iterations and the vehicle's kinematic equations of motion to build an affine time-varying prediction model. The effectiveness of the proposed strategy is demonstrated by experimental results on the Berkeley Autonomous Race Car (BARC) platform." @default.
• W2989394062 created "2019-11-22" @default.
• W2989394062 creator A5025067440 @default.
• W2989394062 creator A5026281392 @default.
• W2989394062 date "2020-11-01" @default.
• W2989394062 modified "2023-09-25" @default.
• W2989394062 title "Learning How to Autonomously Race a Car: A Predictive Control Approach" @default.
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• W2989394062 doi "https://doi.org/10.1109/tcst.2019.2948135" @default.
• W2989394062 hasPublicationYear "2020" @default.
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