A multi-lane highway with cars moving in one direction at a constant (known) speed.
Our car (non-holonomic) is trying to speed through the traffic! Given a constant velocity that is greater than the traffic’s, the start location and the goal location, the planner will create a plan (or return that there is no plan) for the car to navigate through the traffic from start to goal.
Sample Visualization on MATLAB
Algorithms & Techniques Involved:
Explicit Graph, Plan then Execute
Weighted A* Search
Heuristic: Euclidean Distance
Straight, Change Lane To Left, Change Lane To Right
Planner runs a Weighted A* Search on the States defined by (x, y, t). Successors of each state are found by collision checking each motion primitive. If no plan is found, the planner will return: “No Plan Found!”