A Holistic Motion Planning and Control Solution to Challenge a Professional Racecar Driver
Sirish Srinivasan,
Sebastian Nicolas Giles,
Alexander Liniger
Abstract:We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the codesign of the motion planning and control layers, extracting the full potential of the connected system. First, a high-level planner computes an optimal trajectory around the track, then in real-time the mid-level nonlinear model predictive controller follows this path using the high-level information as guidance. Finally a high frequency, low-lev… Show more
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