Time-Optimal Trajectory Planning and Tracking for Autonomous Vehicles

Time-Optimal Trajectory Planning and Tracking for Autonomous Vehicles

This article presents a hierarchical control framework for autonomous vehicle trajectory planning and tracking, addressing the challenge of accurately following high-speed, at-limit maneuvers. The proposed time-optimal trajectory planning and tracking (TOTPT) framework utilizes a hierarchical contro...

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Bibliographic Details
Main Authors: Jun-Ting Li, Chih-Keng Chen, Hongbin Ren
Format: Article
Language:English
Published: MDPI AG 2024-05-01
Series:Sensors
Subjects:
autonomous racing
trajectory planning
trajectory tracking
NMPC
Online Access:https://www.mdpi.com/1424-8220/24/11/3281

Internet

https://www.mdpi.com/1424-8220/24/11/3281

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