Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars
Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars
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 learns to improve its dynamics model from data and safely increases …