プリミティブベース計画とデータ駆動制御による自律RCカーの連続慣性ドリフト
Consecutive Inertia Drift of Autonomous RC Car via Primitive-based Planning and Data-driven Control
プリミティブと呼ばれる経路断片の連結で複雑な経路を計画し、複数の実軌道を補間して参照軌道を作るデータ駆動制御により、自律RCカーで連続カーブを含む慣性ドリフトを実現した。
著者: Yiwen Lu, Bo Yang, Jiayun Li, Yihan Zhou, Hongshuai Chen, Yilin Mo
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning performance. This paper presents a solution for the consecutive inertia drift of an autonomous RC car based on primitive-based planning and data-driven control. The planner generates complex paths via the concatenation of path segments called primitives, and the controller eases the burden on feedback by interpolating between multiple real trajectories with different initial conditions into one near-feasible reference trajectory. The proposed strategy is capable of drifting through various paths containing consecutive turns, which is validated in both simulation and reality.
