DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 심현철 | - |
dc.contributor.author | Moon, Seongwoo | - |
dc.contributor.author | 문성우 | - |
dc.date.accessioned | 2024-07-30T19:31:40Z | - |
dc.date.available | 2024-07-30T19:31:40Z | - |
dc.date.issued | 2024 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1097236&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/321658 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 전기및전자공학부, 2024.2,[v, 50p :] | - |
dc.description.abstract | We address the path planning and control architecture of autonomous racing in high-speed environments. Path planning for high-speed autonomous racing differs significantly from approaches used in conventional urban environments. Unlike urban settings, there is no lane information, traffic rules, or signals, and there is no cooperation among drivers. In this thesis, the limitations of algorithms used in urban environments are recognized, and a novel approach is proposed. The path planning module incorporates interactions with surrounding opponents by utilizing their predicted trajectories. Previous research has been conducted under constrained conditions, such as head-to-head racing or rule-based racing on oval tracks. This study develops a path planning and control system architecture for road course racing where rules with opponents are not predefined. The proposed architecture’s performance is validated using simulation and real-world testing with the IONIQ5 production vehicle. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Autonomous driving▼aAutonomous racing▼aMotion planning and control | - |
dc.subject | 자율 주행▼a자율 주행 경주▼a경로 계획 및 제어 | - |
dc.title | Hybrid trajectory planning and control architecture in high speed autonomous racing | - |
dc.title.alternative | 고속 자율주행 레이싱 환경에서 융합 기반 경로 계획 및 제어 아키텍처에 관한 연구 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :전기및전자공학부, | - |
dc.contributor.alternativeauthor | Shim, Hyunchul | - |
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