DBF-MA: A Differential Bayesian Filtering Planner for Multi-Agent Autonomous Racing Overtakes

摘要

A significant challenge in autonomous racing is to generate overtaking maneuvers. Racing agents must execute these maneuvers on complex racetracks with little room for error. Optimization techniques and graph-based methods have been proposed, but these methods often rely on oversimplified assumptions for collision-avoidance and dynamic constraints. In this work, we present an approach to trajectory synthesis based on an extension of the Differential Bayesian Filtering framework. Our approach for collision-free trajectory synthesis frames the problem as one of Bayesian Inference over the space of Composite Bezier Curves. Our method is derivative-free, does not require a spherical approximation of the vehicle footprint, linearization of constraints, or simplifying upper bounds on collision avoidance. We conduct a closed-loop analysis of DBF-MA and find it successfully overtakes an opponent in 87% of tested scenarios, outperforming existing methods in autonomous overtaking.