5 accepted papers
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing methods either support arbitrary acceleration constraints at
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing methods either support arbitrary acceleration constraints at…
Online planning and execution of minimum-time maneuvers on three-dimensional (3D) circuits is an open challenge in autonomous vehicle racing. In this paper, we present an artificial race driver (ARD) to learn the vehicle dynamics, plan and execute minimum-time maneuvers on a 3D track. ARD integrates
A combined minimum time - minimum jerk traffic management system for the vehicle coordination in an automated warehouse is presented. The algorithm is organised in two steps: in the first, a simple minimum time optimisation problem is solved, in the second step, this time-optimal solution is refined
In this paper, we present a real-time non-linear model-predictive control (NMPC) framework to perform minimum-time motion planning for autonomous racing cars. We introduce an innovative kineto-dynamical vehicle model, able to accurately predict non-linear longitudinal and lateral vehicle dynamics. T…