Model-based online trajectory planning for time optimal race lines

被引：9
|
作者：
Gundlach, Ingmar [1 ]
Konigorski, Ulrich [1 ]
机构：
[1] Tech Univ Darmstadt, Inst Automatisierungs Tech & Mechatron, Landgraf Georg Str 4, D-64283 Darmstadt, Germany
来源：
AT-AUTOMATISIERUNGSTECHNIK | 2019年 / 67卷 / 09期
关键词：
trajectory planning; automated driving; time optimal; race line; limits of driving dynamics; optimization; CAR;
D O I：
10.1515/auto-2019-0032
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article describes a method for time optimal trajectory planning. The lateral and longitudinal planning are carried out simultaneously based on a nonlinear single-track model. The optimization problem is transformed from time domain into spatial domain. The planning is used for circuits as well as for moving horizon planning taking static objects into account. In addition to the lap time, the focus is on comfort and computing time.
引用
收藏
页码：799 / 813
页数：15
相关论文
共 50 条
  • [31] Time optimal trajectory planning in dynamic environments
    Fiorini, P
    Shiller, Z
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 1553 - 1558
  • [32] A novel model-based welding trajectory planning method for identical structural workpieces
    Fang, Weihua
    Tian, Xincheng
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2024, 89
  • [33] Adjustment optimal trajectory planning of aircraft component based on dynamics model
    Huang, Peng
    Wang, Qing
    Li, Jiangxiong
    Ke, Yinglin
    Zhang, Chunshan
    Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2014, 35 (09): : 2672 - 2682
  • [34] Model-based trajectory planning for flexible-link mechanisms with bounded jerk
    Boscariol, P.
    Gasparetto, A.
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2013, 29 (04) : 90 - 99
  • [35] Efficient model-based reinforcement learning for approximate online optimal control
    Kamalapurkar, Rushikesh
    Rosenfeld, Joel A.
    Dixon, Warren E.
    AUTOMATICA, 2016, 74 : 247 - 258
  • [36] Model-based systems engineering for virtual commissioning of assembly lines – automated planning of assembly lines
    Brovkina, Daniella
    Riedel, Oliver
    WT Werkstattstechnik, 2020, 110 (09): : 591 - 596
  • [37] Energy-optimal transport trajectory planning and online trajectory modification for holonomic robots
    Kim, Hongjun
    Kim, Byung Kook
    ASIAN JOURNAL OF CONTROL, 2021, 23 (05) : 2185 - 2200
  • [38] Pseudospectral Method Based Time Optimal Trajectory Planning for Double Pendulum Cranes
    Chen He
    Fang Yongchun
    Sun Ning
    Qian Yuzhe
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 4302 - 4307
  • [39] NURBS-based time-optimal trajectory planning on robotic excavators
    Guan, Cheng
    Wang, Fei
    Zhang, Deng-Yu
    Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2015, 45 (02): : 540 - 546
  • [40] Neural network-based method for time-optimal trajectory planning
    Univ of Western Sydney, Nepean
    Robotica, pt 2 (143-158):
12345