Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars
Conference object, Preprint
Zeilinger, Melanie N.
- Publisher: IEEE
Computer Science - Machine Learning | Computer Science - Systems and Control
This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is addressed by means of a cautious nonlinear model predictive control (NMPC) approach that lea...