User: Guest  Login
Title:

Efficient Spatiotemporal Graph Search for Local Trajectory Planning on Oval Race Tracks

Document type:
Zeitschriftenaufsatz
Author(s):
Rowold, M.; Ögretmen, L.; Kerbl, T.; Lohmann, B.
Abstract:
Autonomous racing has increasingly become a research subject as it provides insights into dynamic, high-speed situations. One crucial aspect of handling these situations, especially in the presence of dynamic obstacles, is the generation of a collision-free trajectory that represents a safe behavior and is also competitive in the case of racing. We propose a local planning approach that generates such trajectories for a racing car on an oval race track by searching a spatiotemporal graph. A cons...     »
Keywords:
autonomous vehicles; motion planning; spatiotemporal planning; graph search
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 319
Covered by:
Scopus; Web of Science
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.3390/act11110319
WWW:
https://doi.org/10.3390/act11110319
Publisher:
MDPI
E-ISSN:
20760825
Notes:
This article belongs to the Special Issue Intelligent Control and Robotic System in Path Planning
Submitted:
26.09.2022
Accepted:
28.10.2022
Date of publication:
03.11.2022
Semester:
WS 22-23
TUM Institution:
Lehrstuhl für Regelungstechnik
 BibTeX