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Fast Viable Path Planning for 1:43 RC Cars


P. Oschatz

Semester Thesis, FS15 (10411)

Autonomous driving demands not only highly reliable but also fast calculations. On the ORCA project we have a perfect set up to contribute to that field of research by testing various types of algorithms. Recently an improved path planning algorithm was derived by approximating the path planner from a previous project as a difference inclusion. This model allows to calculate the viability kernel of a car driving around the track, as well as the controls which keep the car within the viability kernel (safe controls). Using this set of viable states and safe controls it is possible to generate all safe trajectories without checking for constraint satisfaction. The aim of this project is to implement the viability based path planning algorithm on the ORCA test bed. To achieve this goal the sparsity pattern in the resulting look up tables have to be explored. And an efficient multistage path planner has to be implemented in C. The resulting controller is evaluated against the existing controller, in computation time as well as performance.

Supervisors: Alexander Liniger, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2015:IFA_5246
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