Track-Centric Iterative Learning for Global Trajectory Optimization in Autonomous Racing : x = 자율 주행 레이싱에서의 글로벌 궤적 최적화를 위한 트랙 중심 반복 학습

목차 (Table of Contents)

• I Introduction 1
• II Related Work 6
• 2.1 Trajectory Optimization for Autonomous Racing 6
• 2.2 Learning-Based Approaches for Model Uncertainty 7
• 2.3 Gap Analysis and Positioning 9
• III Problem Formulation 10
• 3.1 Vehicle Dynamics Model 10
• 3.2 Minimum Lap Time Optimization Problem 12
• 3.3 Gaussian Process-based Residual Dynamics Learning 13
• IV Algorithm Development 17
• 4.1 Algorithm Overview 17
• 4.2 Wavelet-based Trajectory Parameterization 18
• 4.3 Bayesian Optimization for Lap Time Minimization 19
• 4.4 Iterative Track-Centric Learning Framework 22
• 4.5 Theoretical Analysis 26
• V Experiment 30
• 5.1 Experiment Setup 30
• 5.2 Results 31
• VI Conclusion 36
• 6.1 Summary of Contributions 36
• 6.2 Practical Implications 37
• 6.3 Limitations and Future Work 37
• 6.4 Concluding Remarks 37
• References 39
• Acknowledgements 42
• Acknowledgements 43