Optimization-Based Hierarchical Motion Planning for Autonomous Racing

11 Mar 2020 Vázquez José L. Brühlmeier Marius Liniger Alexander Rupenyan Alisa Lygeros John

In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap time, and the low-level nonlinear model predictive path following controller tracks the computed trajectory online... (read more)

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Categories


  • ROBOTICS
  • SYSTEMS AND CONTROL
  • SYSTEMS AND CONTROL
  • OPTIMIZATION AND CONTROL