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Document type:
Zeitschriftenaufsatz 
Author(s):
Heilmeier, Alexander; Wischnewski, Alexander; Hermansdorfer, Leonhard; Betz, Johannes; Lienkamp, Markus; Lohmann, Boris 
Title:
Minimum curvature trajectory planning and control for an autonomous race car 
Abstract:
This paper shows a software stack capable of planning a minimum curvature trajectory for an autonomous race car on the basis of an occupancy grid map and introduces a controller design that allows to follow the trajectory at the handling limits. The minimum curvature path is generated using a quadratic optimisation problem (QP) formulation. The key contributions of this paper are the extension of the QP for an improved accuracy of the curvature approximation, the introduction of curvature constr...    »
 
Keywords:
FTM Fahrdynamik 
Journal title:
Vehicle System Dynamics 
Year:
2019 
Pages contribution:
1-31 
Covered by:
Scopus 
Language:
en 
Publisher:
Informa UK Limited 
E-ISSN:
0042-31141744-5159 
Date of publication:
18.06.2019 
TUM Institution:
Lehrstuhl für Fahrzeugtechnik