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Document type:
Zeitschriftenaufsatz
Author(s):
Heilmeier, Alexander; Wischnewski, Alexander; Hermansdorfer, Leonhard; Betz, Johannes; Lienkamp, Markus; Lohmann, Boris
Title:
Minimum curvature trajectory planning and control for an autonomous race car
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:
FTM Fahrdynamik
Journal title:
Vehicle System Dynamics
Year:
2020
Journal volume:
58
Journal issue:
10
Pages contribution:
1497-1527
Covered by:
Scopus
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1080/00423114.2019.1631455
Publisher:
Taylor & Francis
E-ISSN:
0042-31141744-5159
Date of publication:
18.06.2019
TUM Institution:
Lehrstuhl für Fahrzeugtechnik
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