2023/09/17 by Haoru Xue, Xue, Haoru, T. Yue +3
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2309.09186
openalex publication_date 2023/09/17 · openalex created_date 2023/09/20 · openalex updated_date 2026/07/28
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that work with limited dynamics data and additional conservative constraints. We formulate a minimum-curvature optimization problem with only the spline control points as optimization variables. We then compare the current state-of-the-art method with our optimization result, which achieves a similar level of optimality with a 90% reduction on the decision variable dimension, and in addition offers mathematical smoothness guarantee and flexible manipulation options. We concurrently reduce the problem computation time from seconds to milliseconds for a long race track, enabling future online adaptation of the previously offline technique.