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Title: Adaptive Lookahead Pure-Pursuit for Autonomous Racing
This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajectory in an autonomous racing scenario. We propose a greedy algorithm to compute and assign optimal lookahead distances for the pure-pursuit controller for each waypoint on a reference trajectory for improving the race metrics. We use a ROS based autonomous racing simulator to evaluate the adaptive pure-pursuit algorithm and compare our method with several other pure-pursuit based lateral controllers. We also demonstrate our approach on a scaled real testbed using a F1/10 autonomous racecar. Our method results in a significant improvement (20%) in the racing metrics for an autonomous racecar.  more » « less
Award ID(s):
2046582
PAR ID:
10320139
Author(s) / Creator(s):
;
Date Published:
Journal Name:
ArXivorg
ISSN:
2331-8422
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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