Abstract:The widespread development of driverless vehicles has led to the formation of autonomous racing competitions, where the high speeds and fierce rivalry in motorsport provide a testbed to accelerate technology development. A particular challenge for an autonomous vehicle is that of identifying a target trajectory -or in the case of a racing car, the ideal racing line. Many existing approaches to identifying the racing line are either not the time-optimal solutions, or have solution times which are computationall… Show more
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