Optimization-Based Hierarchical Motion Planning for Autonomous Racing
José L. Vázquez,Marius Brühlmeier,Alexander Liniger,Alisa Rupenyan,John Lygeros,José L. Vázquez,Marius Brühlmeier,Alexander Liniger,Alisa Rupenyan,John Lygeros
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap time, and the low-level nonlinear model predictive path following controller tracks the computed trajectory online. Following a computed optimal trajectory avoi...
