Planning of minimal-time trajectories for high speed autonomous vehicles
Klaus-Dieter Kuhnert, Wolfgang Seemann · IEEE Intelligent Vehicles Symposium · 2007
The paper describes a method to compute the minimal-time trajectory for an autonomous vehicle driving at the force contact limit. It is proven that the optimal trajectory consists piecewise of logarithmic spirals and not of cothoids as is often thought. Simulation results are given for the interesting special case of a needle turn. These results are compared to normal polynomial interpolation.