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Title:

Hierarchical Time-Optimal Planning for Multi-Vehicle Racing

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Jank, G.; Rowold, M.; Lohmann, B.
Pages contribution:
pp. 2064-2069
Abstract:
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous planning methods, our algorithm encourages global time optimality without being limited by coarse discretization. In the behavioral planning step, the fastest behavior is determined with a low-resolution spatio-temporal visibility graph. Based on the selected behav...     »
Keywords:
autonomous driving, time-optimal planning, multi-vehicle racing
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
IEEE
Book / Congress title:
IEEE 26TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, ITSC
Organization:
IEEE
Date of congress:
24.-28.9.2023
Publisher:
IEEE
Publisher address:
New York
Date of publication:
28.09.2023
Year:
2023
Year / month:
2023-09
Pages:
pp. 2064-2069
Covered by:
Web of Science
Bookseries ISSN:
2153-0009
Fulltext / DOI:
doi:10.1109/ITSC57777.2023.10422566
Ingested:
14.06.2024
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