| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
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|---|---|---|
| Article Number | 04018 | |
| Number of page(s) | 18 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804018 | |
| Published online | 15 December 2023 | |
Optimization-based path planning and collision avoidance for autonomous racing
Department of Electrical and Electronic Engineering, Stellenbosch University, South Africa
* Corresponding author: 21738394@sun.ac.za
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 ahead of the autonomous car when an obstacle is detected in the path of the vehicle. The motion planners formulate the planning problems as optimal control problems and solve the resulting optimizations using an interior point optimizer (IPOPT). Simulation experiments show that an autonomous vehicle using the motion planner is able to race around the track with minimum lap time while avoiding unexpected obstacles.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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