Trajectory Optimization of a Circuit Racing Car

Abstract

This paper presents a numerical analysis for trajectory optimization problem of a circuit racing car. Course examples are configured to be a part of real circuit. A solver used to analyze an optimal control problem is based on a pseudospectral method, a direct method, which can handle a state variable inequality constraint of a course restriction easily. Numerical results show that the racing car maneuvers at th limit of its performance envelope. Comparing with the real racing car data, an applied method yields appropriate results.