Lecture 20 - Raceline Optimization

Overview:

This lecture goes over raceline optimization. For a given track, how do we parametrize, evaluate, and optimize a raceline?

Topics Covered:

• Splines and trajectories

• Convex Optimization

• Search and evaluation

• CMA-ES

• Evolution strategies

Slides:

Links to additional resources:

• Convex Optimization Course

• A Visual Guide to Evolution Strategies

• Minimum-time speed optimisation over a fixed path

• Reducing the Time Complexity of the Derandomized Evolution Strategy with Covariance Matrix Adaptation (CMA-ES)