Optimization-based path planning and collision avoidance for autonomous racing
This paper presents a hierarchical motion planner for autonomous racing. The long-term motion planner functions offline and formulates the optimal motion plan for the entire race track. The short-term collision avoidance planner functions online and formulates a motion plan for a limited horizon ahe...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2023-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2023/15/matecconf_rapdasa2023_04018.pdf |