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Title:

Minimum curvature trajectory planning and control for an autonomous race car

Document type:
Zeitschriftenaufsatz
Author(s):
Heilmeier, A.; Wischnewski, A.; Hermansdorfer, L.; Betz, J.; Lienkamp, M.; Lohmann, B.
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:
Trajectory planning, path planning, control, minimum curvature, autonomous driving, race car
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
International Journal of Vehicle Mechanics and Mobility
Year:
2019
Year / month:
2019-06
Quarter:
2. Quartal
Month:
Jun
Journal issue:
Vol. 58, Issue Number 10
Pages contribution:
pp. 1497-1527
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1080/00423114.2019.1631455
WWW:
https://www.tandfonline.com/doi/abs/10.1080/00423114.2019.1631455?journalCode=nvsd20
Publisher:
Taylor&Francis Online
Submitted:
09.10.2018
Accepted:
27.05.2019
Date of publication:
18.06.2019
TUM Institution:
Lehrstuhl für Regelungstechnik
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