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Title:

Online Time-Optimal Trajectory Planning on Three-Dimensional Race Tracks

Document type:
Konferenzbeitrag
Contribution type:
Vortrag / Präsentation
Author(s):
Rowold, M.; Ögretmen, L.; Kasolowsky, U.; Lohmann, B.
Pages contribution:
pp. 1-8
Abstract:
We propose an online planning approach for racing that generates the time-optimal trajectory for the upcoming track section. The resulting trajectory takes the current vehicle state, effects caused by three-dimensional track geometries, and speed limits dictated by the race rules into account. In each planning step, an optimal control problem is solved, making a quasi-steady-state assumption with a point mass model constrained by gg-diagrams. For its online applicability, we propose an efficient...     »
Keywords:
Geometry; Trajectory planning; Intelligent vehicles; Computational modeling; Optimal control; Trajectory; Planning; autonomous racing; three-dimensional planning; time-Optimal; racing line
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Book / Congress title:
IEEE Intelligent Vehicles Symposium (IV) [34th]
Organization:
IEEE
Date of congress:
04.-07.06.2023
Publisher:
IEEE Xplore
Date of publication:
27.07.2023
Year:
2023
Quarter:
3. Quartal
Year / month:
2023-07
Month:
Jul
Covered by:
Scopus; Web of Science
Print-ISBN:
979-8-3503-4692-3
E-ISBN:
979-8-3503-4691-6
Bookseries ISSN:
1931-0587
Reviewed:
ja
Language:
en
Publication format:
Print
Fulltext / DOI:
doi:10.1109/IV55152.2023.10186701
WWW:
https://ieeexplore.ieee.org/document/10186701
TUM Institution:
Lehrstuhl für Regelungstechnik
Ingested:
31.07.2023
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