Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions
Suiyi He,Jun Zeng,Koushil Sreenath,Suiyi He,Jun Zeng,Koushil Sreenath
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model predictive control (MPC) trajectory planner is used to guarantee that the ego vehicle achieves better lap timing performance. When the ego vehicle is competing...
