CiMPCC adds a curvature-derived reference velocity term to MPCC and reports 11.4-12.5% faster lap times on a 1:10 scale autonomous race car.
A sequential two-step algorithm for fast generation of vehicle racing trajectories,
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Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method
CiMPCC adds a curvature-derived reference velocity term to MPCC and reports 11.4-12.5% faster lap times on a 1:10 scale autonomous race car.