弹道
磁道(磁盘驱动器)
计算机科学
管道(软件)
航程(航空)
运动(物理)
运动规划
控制(管理)
边界(拓扑)
人工智能
模拟
计算机视觉
实时计算
工程类
机器人
数学
航空航天工程
操作系统
物理
数学分析
程序设计语言
天文
作者
Tairan Chen,Xinyu Gao,Chenrui Huang,Xiang Li,Shiyi Yang,Hailong Gong,Yunji Feng
出处
期刊:Lecture notes in electrical engineering
日期:2022-01-01
卷期号:: 203-219
标识
DOI:10.1007/978-981-16-2090-4_12
摘要
This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.
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