3 research outputs found
Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds
This paper presents a multi-layer motion planning and control architecture
for autonomous racing, capable of avoiding static obstacles, performing active
overtakes, and reaching velocities above 75 . The used offline global
trajectory generation and the online model predictive controller are highly
based on optimization and dynamic models of the vehicle, where the tires and
camber effects are represented in an extended version of the basic Pacejka
Magic Formula. The proposed single-track model is identified and validated
using multi-body motorsport libraries which allow simulating the vehicle
dynamics properly, especially useful when real experimental data are missing.
The fundamental regularization terms and constraints of the controller are
tuned to reduce the rate of change of the inputs while assuring an acceptable
velocity and path tracking. The motion planning strategy consists of a
Fren\'et-Frame-based planner which considers a forecast of the opponent
produced by a Kalman filter. The planner chooses the collision-free path and
velocity profile to be tracked on a 3 seconds horizon to realize different
goals such as following and overtaking. The proposed solution has been applied
on a Dallara AV-21 racecar and tested at oval race tracks achieving lateral
accelerations up to 25 .Comment: Accepted to the 25th IEEE International Conference on Intelligent
Transportation Systems (IEEE ITSC 2022
er.autopilot 1.0: The Full Autonomous Stack for Oval Racing at High Speeds
The Indy Autonomous Challenge (IAC) brought together for the first time in
history nine autonomous racing teams competing at unprecedented speed and in
head-to-head scenario, using independently developed software on open-wheel
racecars. This paper presents the complete software architecture used by team
TII EuroRacing (TII-ER), covering all the modules needed to avoid static
obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h).
In addition to the most common modules related to perception, planning, and
control, we discuss the approaches used for vehicle dynamics modelling,
simulation, telemetry, and safety. Overall results and the performance of each
module are described, as well as the lessons learned during the first two
events of the competition on oval tracks, where the team placed respectively
second and third.Comment: Preprint: Accepted to Field Robotics "Opportunities and Challenges
with Autonomous Racing" Special Issu
Design, Synthesis and activity of a new series of nucleoside analogues displaying potent antiflaviviridae activity.
Design, Synthesis and activity of a new series of nucleoside analogues displaying potent antiflaviviridae activit