MCTR improves Delaunay-triangulation-based reactive racing by using opposing-edge midpoints and CCMA curvature smoothing, and validates the approach in a CARLA digital twin with 2D and 3D LiDAR.
F1tenth: An open-source evaluation environment for continuous control and reinforcement learning,
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MCTR: Midpoint Corrected Triangulation for Autonomous Racing via Digital Twin Simulation in CARLA
MCTR improves Delaunay-triangulation-based reactive racing by using opposing-edge midpoints and CCMA curvature smoothing, and validates the approach in a CARLA digital twin with 2D and 3D LiDAR.