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Implementation of Model Predictive Contouring Control for RC Race Cars

Author(s):

Christoph Trabert
Conference/Journal:

Semester Thesis, HS 11 (10075)
Abstract:

The Optimal Autonomous RC Racer (ORCA Racer) project studies high-speed, realtime control of 1:43 scale race cars. In this thesis, which is part of the ORCA Racer project, an online trajectory optimization and tracking algorithm, based on Model Predictive Contouring Control (MPCC), is described. Optimization is essentially carried out in terms of maximizing the projected speed (onto the center line of a track) while taking state constraints such as track borders into account. Unlike previously used control techniques (such as MPC or PID controllers), the MPCC based control algorithm does not need a previously optimized trajectory. A real-time implementation of this MPCC based algorithm was developed within the ORCA Racer control framework. For this, a previous ORCA project was adapted to work with embedded MATLAB and Simulink Real-Time Workshop. Its functionality was shown with a 1:43 scale race car on a race track.

Year:

2012
Type of Publication:

(13)Semester/Bachelor Thesis
Supervisor:

A. Domahidi

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2012:IFA_4217
}
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