State/control constraint management in autonomous racing: A reference governor approach
This paper presents a state/control constraint management in autonomous racing based on reference governor approach. The proposed algorithm consists of two sequential parts. First part is a reference governor. The reference governor modifies desired speed and lateral position, which are references to control system, to meet track boundary (state constraint) and friction limit (control input constraint) of front/rear wheel. Second part is a motion tracking algorithm. The motion tracking algorithm minimize tracking error between pre-defined motion and actual vehicle motion. The proposed control algorithm has been investigated via computer simulations. The results have presented that the proposed algorithm well handle state and control constraints in autonomous racing.