Conference
Optimization-based Path Planning for an Autonomous Vehicle in a Racing Track
Abstract
Path planning is discussed in this article for an autonomous vehicle given a route to follow. Route data is considered to be available for a distance ahead of the vehicle in a receding horizon manner. Linear approximation of the nonlinear equations for a vehicle following a path is obtained. Based on these equations, the optimization problem is formed in a convex optimization format and solved to find the optimal path. Optimality is a trade-off …
Authors
Bonab SA; Emadi A
Volume
1
Pagination
pp. 3823-3828
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 14, 2019
DOI
10.1109/iecon.2019.8926856
Name of conference
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society