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Title:

Smooth Trajectory Planning at the Handling Limits for Oval Racing

Document type:
Zeitschriftenaufsatz
Author(s):
Ögretmen, L.; Rowold, M.; Ochsenius, M.; Lohmann, B.
Abstract:
In motion planning for autonomous racing, the challenge arises in planning smooth trajectories close to the handling limits of the vehicle with a sufficient planning horizon. Graph-based trajectory planning methods can find the global discrete-optimal solution, but they suffer from the curse of dimensionality. Therefore, to achieve low computation times despite a long planning horizon, coarse discretization and simple edges that are efficient to generate must be used. However, the resulting roug...     »
Keywords:
motion planning; autonomous vehicles; racing; sampling; dynamic obstacles
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
Actuators
Year:
2022
Year / month:
2022-11
Quarter:
4. Quartal
Month:
Nov
Journal issue:
Vol. 11, Issue 11, Article number 318
Covered by:
Scopus; Web of Science
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.3390/act11110318
WWW:
https://doi.org/10.3390/act11110318
Publisher:
MDPI
E-ISSN:
20760825
Notes:
Special Issue Intelligent Control and Robotic System in Path Planning
Status:
Erstveröffentlichung
Submitted:
26.09.2022
Accepted:
28.10.2022
Date of publication:
03.11.2022
TUM Institution:
Lehrstuhl für Regelungstechnik
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