多車両レースのための階層的時間最適計画
Hierarchical Time-Optimal Planning for Multi-Vehicle Racing
複数車両とのレースにおいて、低解像度の時空間可視グラフで最速の行動を選び、その行動に基づく制約下で時間最適制御問題を解く階層的計画法を提案。単一コアで実行でき、リアルタイム多車両レースに実用的。
著者: Georg Jank, Matthias Rowold, Boris Lohmann
分類: cs.RO
原文アブストラクト
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous planning methods, our algorithm encourages global time optimality without being limited by coarse discretization. In the behavioral planning step, the fastest behavior is determined with a low-resolution spatio-temporal visibility graph. Based on the selected behavior, we calculate maneuver envelopes that are subsequently applied as constraints in a time-optimal control problem. The performance of our method is comparable to a parallel approach that selects the fastest trajectory from multiple optimizations with different behavior classes. However, our algorithm can be executed on a single core. This significantly reduces computational requirements, especially when multiple opponents are involved. Therefore, the proposed method is an efficient and practical solution for real-time multi-vehicle racing scenarios.
