Optimal Control of a Formula One Car on a Three-Dimensional Track—Part 1: Track Modeling and Identification | Zendy

Giacomo Perantoni | Zendy; D.J.N. Limebeer | Zendy

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Optimal Control of a Formula One Car on a Three-Dimensional Track—Part 1: Track Modeling and Identification

Author(s) -

Giacomo Perantoni,

D.J.N. Limebeer

Publication year - 2014

Publication title -

journal of dynamic systems measurement and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.528

H-Index - 89

eISSN - 1528-9028

pISSN - 0022-0434

DOI - 10.1115/1.4028253

Subject(s) - track (disk drive) , curvilinear coordinates , curvature , smoothing , identification (biology) , displacement (psychology) , optimal control , enhanced data rates for gsm evolution , boundary (topology) , mathematics , computer science , algorithm , geometry , mathematical optimization , mathematical analysis , computer vision , psychology , botany , psychotherapist , biology , operating system

The identification of three-dimensional race track models from noisy measured GPS data is treated as a problem in the differential geometry of curves and surfaces. Curvilinear coordinates are adopted to facilitate the use of the track model in the solution of vehicular optimal control problems. Our proposal is to model race tracks using a generalised Frenet-Serret apparatus, so that the track is specified in terms of three displacement-dependent curvatures and two edge variables. The optimal smoothing of the curvature and edge variables is achieved using numerical optimal control techniques. Track closure is enforced through the boundary conditions associated with the optimal control problem. The Barcelona Formula One track is used as an illustrative example

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