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.
Planning of minimal-time trajectories for high speed autonomous vehicles
2007 IEEE Intelligent Vehicles Symposium ; 492-497
2007-06-01
589600 byte
Conference paper
Electronic Resource
English
Planning of Minimal-Time Trajectories for High Speed Autonomous Vehicles
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