The paper describes a method to compute the minimal-time trajectory for an autonomous vehicle driving at the force contact limit. It is proven that the optimal trajectory consists piecewise of logarithmic spirals and not of cothoids as is often thought. Simulation results are given for the interesting special case of a needle turn. These results are compared to normal polynomial interpolation.


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    Titel :

    Planning of minimal-time trajectories for high speed autonomous vehicles


    Beteiligte:


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    589600 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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