NATHA SINGHASANEH
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Autonomous Highway Speeding

5/4/2017

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Problem Statement:
  • Environment
A multi-lane highway with cars moving in one direction at a constant (known) speed.
  • Planner
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.
Picture
Sample Visualization on MATLAB
Algorithms & Techniques Involved:
  • Explicit Graph, Plan then Execute
  • Weighted A* Search
    • Heuristic:  Euclidean Distance
  • Motion Primitives
    • 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!”

Variables:
  • Start Lane, Goal Lane
  • Robot Speed
  • Traffic Speed
  • Percent Traffic
  • Number of Lanes
  • Road Length

Remaining Issues:
  • More Realistic
    • Variable Speed
    • More Motion Primitives
  • Safety
  • Scalability & Flexibility
    • Be able to scale to different environments
  • Precision
    • Increased precision in distance and time
  • Move towards Real-Time Planning  
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