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Robust Modeling and Controls for Racing on the Edge

2022-05-22 14:55:43
Joshua Spisak, Andrew Saba, Nayana Suvarna, Brian Mao, Chuan Tian Zhang, Chris Chang, Sebastian Scherer, Deva Ramanan
arXiv_RO
       
Abstract

Race cars are routinely driven to the edge of their handling limits in dynamic scenarios well above 200mph. Similar challenges are posed in autonomous racing, where a software stack, instead of a human driver, interacts within a multi-agent environment. For an Autonomous Racing Vehicle (ARV), operating at the edge of handling limits and acting safely in these dynamic environments is still an unsolved problem. In this paper, we present a baseline controls stack for an ARV capable of operating safely up to 140mph. Additionally, limitations in the current approach are discussed to highlight the need for improved dynamics modeling and learning.

Abstract (translated)

URL

https://arxiv.org/abs/2205.10841

PDF

https://arxiv.org/pdf/2205.10841.pdf

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