Name
Abstract | ||
|---|---|---|
In this paper, we consider the optimal motion planning problem for an autonomous race car. A competitive autonomous car must acquire environmental and opponent information to compute, in real time, the minimum time collision free path and the low level control to track the chosen path. To cope with those requirements, we first solve the problem for a car running in isolation considering the optimal sequence of manoeuvres to approach bends and straight stretches of track. We then propose a discrete abstraction to derive a problem of graph optimisation that has a very efficient, albeit suboptimal, solution. In this context, an overtake manoeuvre against a slower car will be obtained excluding from the path the arcs that could potentially generate a collision. Finally, a control algorithm is used to ensure that the car always remains close to the planned path. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/CDC.2013.6760584 | Decision and Control |
Keywords | Field | DocType |
automobiles,collision avoidance,graph theory,mobile robots,motion control,optimal control,optimisation,robot kinematics,albeit suboptimal solution,autonomous race car,competitive autonomous car,competitive robotic cars,discrete abstraction,environmental information,global path planning,graph optimisation,low-level control,minimum time collision free path,opponent information,optimal manoeuvre sequence,optimal motion planning problem,path tracking | Motion planning,Graph theory,Motion control,Any-angle path planning,Mathematical optimization,Optimal control,Computer science,Control theory,Robot kinematics,Collision,Mobile robot | Conference |
ISSN | ISBN | Citations |
0743-1546 | 978-1-4673-5714-2 | 1 |
PageRank | References | Authors |
0.37 | 13 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tizar Rizano | 1 | 4 | 0.75 |
| Fontanelli, D. | 2 | 15 | 2.06 |
| Luigi Palopoli | 3 | 126 | 17.24 |
| Pallottino, L. | 4 | 4 | 0.76 |