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Path Planning Research

This is where we will compile new possible methods and algorithms for the path planning team. Feel free to add sources here. When you do please leave a short description of the method and how we can use it for WUAIR.

Adding New References

Please add any research you come across! Use the same formatting as below and please leave a short description of the source to make it easy to navigate

References​

1. Trajectory Planning & Control​

Heilmeier, A., Wischnewski, A., Hermansdorfer, L., Betz, J., Lienkamp, M., & Lohmann, B. (2020). Minimum curvature trajectory planning and control for an autonomous race car. Vehicle System Dynamics. https://doi.org/10.1080/00423114.2019.1631455

  • Overview: This foundational paper from the TU Munich team presents a robust method for calculating the "racing line" (minimum curvature trajectory) using Quadratic Programming (QP). It explains how to generate these paths based on simple occupancy grids and introduces a control strategy to drive the car at its physical handling limits . It is a key resource for understanding how to mathematically optimize a vehicle's path for speed rather than just safety.