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

Adriano Fagiolini, Danilo Caporale, Andrea Corti, Alessandro Settimi, Andrea Corti, Francesco Amerotti, Federico Massa, Massimo Guiggian, Lucia Pallottino, Antonio Bicchi

Risultato della ricerca: Conference contribution

7 Citazioni (Scopus)

Abstract

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.
Lingua originaleEnglish
Titolo della pubblicazione ospiteIEEE International Conference on Robotics and Automation
Pagine5643-5649
Numero di pagine7
Stato di pubblicazionePublished - 2019

All Science Journal Classification (ASJC) codes

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  • ???subjectarea.asjc.2200.2207???
  • ???subjectarea.asjc.1700.1702???
  • ???subjectarea.asjc.2200.2208???

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