DC Field | Value | Language |
---|---|---|
dc.contributor.author | Seong, Hyunki | ko |
dc.contributor.author | Chung, Chanyoung | ko |
dc.contributor.author | Shim, David Hyunchul | ko |
dc.date.accessioned | 2023-06-21T06:02:48Z | - |
dc.date.available | 2023-06-21T06:02:48Z | - |
dc.date.created | 2023-06-21 | - |
dc.date.created | 2023-06-21 | - |
dc.date.issued | 2023 | - |
dc.identifier.citation | IEEE CONTROL SYSTEMS LETTERS, v.7, pp.1652 - 1657 | - |
dc.identifier.issn | 2475-1456 | - |
dc.identifier.uri | http://hdl.handle.net/10203/307416 | - |
dc.description.abstract | In this letter, we propose a model parameter identification method via a hyperparameter optimization scheme (MI-HPO). Our method adopts an efficient explore-exploit strategy to identify the parameters of dynamic models in a data-driven optimization manner. We utilize our method for model parameter identification of the AV-21, a full-scaled autonomous race vehicle. We then incorporate the optimized parameters for the design of model-based planning and control systems of our platform. In experiments, MI-HPO exhibits more than 13 times faster convergence than traditional parameter identification methods. Furthermore, the parametric models learned via MI-HPO demonstrate good fitness to the given datasets and show generalization ability in unseen dynamic scenarios. We further conduct extensive field tests to validate our model-based system, demonstrating stable obstacle avoidance and high-speed driving up to 217 km/h at the Indianapolis Motor Speedway and Las Vegas Motor Speedway. The source code for our work and videos of the tests are available at https://github.com/hynkis/MI-HPO. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Model Parameter Identification via a Hyperparameter Optimization Scheme for Autonomous Racing Systems | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-85153494333 | - |
dc.type.rims | ART | - |
dc.citation.volume | 7 | - |
dc.citation.beginningpage | 1652 | - |
dc.citation.endingpage | 1657 | - |
dc.citation.publicationname | IEEE CONTROL SYSTEMS LETTERS | - |
dc.identifier.doi | 10.1109/LCSYS.2023.3267041 | - |
dc.contributor.localauthor | Shim, David Hyunchul | - |
dc.contributor.nonIdAuthor | Chung, Chanyoung | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Tires | - |
dc.subject.keywordAuthor | Engines | - |
dc.subject.keywordAuthor | Vehicle dynamics | - |
dc.subject.keywordAuthor | Torque | - |
dc.subject.keywordAuthor | Mathematical models | - |
dc.subject.keywordAuthor | Planning | - |
dc.subject.keywordAuthor | Optimization | - |
dc.subject.keywordAuthor | Data-driven control | - |
dc.subject.keywordAuthor | hyperparameter optimization | - |
dc.subject.keywordAuthor | autonomous vehicle | - |
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