Efficient Spatiotemporal Graph Search for Local Trajectory Planning on Oval Race Tracks
Channel: Chair of Automatic Control TUM
Date: 2022-11-02

Credit: Indy Autonomous Challenge (https://www.indyautonomouschallenge.com/)

The video covers the race sections analyzed in the paper "Efficient Spatiotemporal Graph Search for Local Trajectory Planning on Oval Race Tracks" (https://www.mdpi.com/2076-0825/11/11/319)

The planning steps of the considered race section were recalculated with the proposed uniform-cost search (UCS) and an exhaustive search. The black dotted line shows the actual calculation times for the UCS on the Dallara AV-21 hardware of TUM Autonomous Motorsports (blue car) during the race. The defending and attacking maneuvers are highlighted. The planning steps (a) - (d) analyzed in the paper are marked by black vertical lines.