TY - GEN
T1 - Kinematics-Only Differential Flatness Based Trajectory Tracking for Autonomous Racing
AU - Dighe, Yashom
AU - Kim, Youngjin
AU - Rajguru, Smit
AU - Turkar, Yash
AU - Singh, Tarunraj
AU - Dantu, Karthik
N1 - Publisher Copyright: © 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In autonomous racing, accurately tracking the race line at the limits of handling is essential to guarantee competitiveness. In this study, we show the effectiveness of Differential Flatness based control for high-speed trajectory tracking for car-like robots. We compare the tracking performance of our controller against Nonlinear Model Predictive Control and resource use while running on embedded hardware and show that on average KFC reduces the computation resource usage by 50 % while performing on par with NMPC. Our implementation of the proposed controller, the simulation environment and detailed results is open-sourced on https://github.com/droneslab/.
AB - In autonomous racing, accurately tracking the race line at the limits of handling is essential to guarantee competitiveness. In this study, we show the effectiveness of Differential Flatness based control for high-speed trajectory tracking for car-like robots. We compare the tracking performance of our controller against Nonlinear Model Predictive Control and resource use while running on embedded hardware and show that on average KFC reduces the computation resource usage by 50 % while performing on par with NMPC. Our implementation of the proposed controller, the simulation environment and detailed results is open-sourced on https://github.com/droneslab/.
UR - https://www.scopus.com/pages/publications/85182522536
U2 - 10.1109/IROS55552.2023.10341603
DO - 10.1109/IROS55552.2023.10341603
M3 - Conference contribution
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1629
EP - 1636
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -