A Hierarchical Autonomous Driver for a Racing Car: Real-Time Planning and Tracking of the Trajectory

The aim of this study was to develop trajectory planning that would allow an autonomous racing car to be driven as close as possible to what a driver would do, defining the most appropriate inputs for the current scenario. The search for the optimal trajectory in terms of lap time reduction involves...

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Detalhes bibliográficos

Principais autores:	Margherita Montani, Leandro Ronchi, Renzo Capitani, Claudio Annicchiarico
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2021-09-01
coleção:	Energies
Assuntos:	autonomous driving trajectory planning path tracking sequential convex programming linear programming quadratic constraints
Acesso em linha:	https://www.mdpi.com/1996-1073/14/19/6008
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