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Hierarchical Control for Head-to-Head Autonomous Racing
[article]
2023
arXiv
pre-print
We develop a hierarchical controller for head-to-head autonomous racing. We first introduce a formulation of a racing game with realistic safety and fairness rules. A high-level planner approximates the original formulation as a discrete game with simplified state, control, and dynamics to easily encode the complex safety and fairness rules and calculates a series of target waypoints. The low-level controller takes the resulting waypoints as a reference trajectory and computes high-resolution
arXiv:2202.12861v5
fatcat:vwnd5l2vljbxhcoqiuh5ynxt4y