Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)

This article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller (LPV-MPC) that can be computed online with reduced computational cost. The optimal...

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Autores: Alcalá Baselga, Eugenio|||0000-0002-6023-0014, Puig Cayuela, Vicenç|||0000-0002-6364-6429, Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896, Rosolia, Ugo
Tipo de recurso: artículo
Fecha de publicación:2020
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/340478
Acceso en línea:https://hdl.handle.net/2117/340478
https://dx.doi.org/10.1016/j.conengprac.2019.104270
Access Level:acceso abierto
Palabra clave:Predictive control
Autonomous vehicles
Automatic control
Control predictiu
Vehicles autònoms
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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network_acronym_str ES
network_name_str España
repository_id_str
spelling Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)Alcalá Baselga, Eugenio|||0000-0002-6023-0014Puig Cayuela, Vicenç|||0000-0002-6364-6429Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896Rosolia, UgoPredictive controlAutonomous vehiclesAutomatic controlControl predictiuVehicles autònomsControl automàticÀrees temàtiques de la UPC::Informàtica::Automàtica i controlThis article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller (LPV-MPC) that can be computed online with reduced computational cost. The optimal time problem is solved by an optimal off-line trajectory planner that calculates the best trajectory under the constraints of the circuit. An identification of the system model based on optimization is also carried out. The planning and control scheme is validated in simulation and experimentally in a real platform where the effectiveness of the proposed LPV-MPC is demonstrated.20202020-02-0120212021-02-25journal articlehttp://purl.org/coar/resource_type/c_6501CVoRhttp://purl.org/coar/version/c_e19f295774971610info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/340478https://dx.doi.org/10.1016/j.conengprac.2019.104270reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3404782026-05-27T15:37:01Z
dc.title.none.fl_str_mv Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
title Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
spellingShingle Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Predictive control
Autonomous vehicles
Automatic control
Control predictiu
Vehicles autònoms
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
title_full Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
title_fullStr Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
title_full_unstemmed Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
title_sort Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
dc.creator.none.fl_str_mv Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Rosolia, Ugo
author Alcalá Baselga, Eugenio|||0000-0002-6023-0014
author_facet Alcalá Baselga, Eugenio|||0000-0002-6023-0014
Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Rosolia, Ugo
author_role author
author2 Puig Cayuela, Vicenç|||0000-0002-6364-6429
Quevedo Casín, Joseba Jokin|||0000-0002-7827-2896
Rosolia, Ugo
author2_role author
author
author
dc.subject.none.fl_str_mv Predictive control
Autonomous vehicles
Automatic control
Control predictiu
Vehicles autònoms
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Predictive control
Autonomous vehicles
Automatic control
Control predictiu
Vehicles autònoms
Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description This article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller (LPV-MPC) that can be computed online with reduced computational cost. The optimal time problem is solved by an optimal off-line trajectory planner that calculates the best trajectory under the constraints of the circuit. An identification of the system model based on optimization is also carried out. The planning and control scheme is validated in simulation and experimentally in a real platform where the effectiveness of the proposed LPV-MPC is demonstrated.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-02-01
2021
2021-02-25
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
CVoR
http://purl.org/coar/version/c_e19f295774971610
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/340478
https://dx.doi.org/10.1016/j.conengprac.2019.104270
url https://hdl.handle.net/2117/340478
https://dx.doi.org/10.1016/j.conengprac.2019.104270
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300724

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