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Learning-based model predictive control with moving horizon state estimation for autonomous racing
Yassine Kebbati, Andreas Rauh, Naima Ait-Oufroukh, Dalil Ichalal, Vincent Vigneron
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.
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