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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2510.05366 |
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| _version_ | 1866915535695904768 |
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| author | Kebbati, Yassine Rauh, Andreas Ait-Oufroukh, Naima Ichalal, Dalil Vigneron, Vincent |
| author_facet | Kebbati, Yassine Rauh, Andreas Ait-Oufroukh, Naima Ichalal, Dalil Vigneron, Vincent |
| contents | This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that computes the best trajectory while considering the physical limits of the vehicle and circuit constraints. The developed controller is further enhanced with a learning extension based on Gaussian process regression that improves model predictions. The proposed control, estimation, and planning schemes are evaluated on two different race tracks. Code can be found here: https://github.com/yassinekebbati/GP_Learning-based_MPC_with_MHE |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_05366 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Learning-based model predictive control with moving horizon state estimation for autonomous racing Kebbati, Yassine Rauh, Andreas Ait-Oufroukh, Naima Ichalal, Dalil Vigneron, Vincent Optimization and Control This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that computes the best trajectory while considering the physical limits of the vehicle and circuit constraints. The developed controller is further enhanced with a learning extension based on Gaussian process regression that improves model predictions. The proposed control, estimation, and planning schemes are evaluated on two different race tracks. Code can be found here: https://github.com/yassinekebbati/GP_Learning-based_MPC_with_MHE |
| title | Learning-based model predictive control with moving horizon state estimation for autonomous racing |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2510.05366 |