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Full-Text Articles in Mechanical Engineering
Development Of Autonomous Vehicle Motion Planning And Control Algorithm With D* Planner And Model Predictive Control In A Dynamic Environment, Somnath Mondal
Development Of Autonomous Vehicle Motion Planning And Control Algorithm With D* Planner And Model Predictive Control In A Dynamic Environment, Somnath Mondal
Dissertations, Master's Theses and Master's Reports
The research in this report incorporates the improvement in the autonomous driving capability of self-driving cars in a dynamic environment. Global and local path planning are implemented using the D* path planning algorithm with a combined Cubic B-Spline trajectory generator, which generates an optimal obstacle free trajectory for the vehicle to follow and avoid collision. Model Predictive Control (MPC) is used for the longitudinal and the lateral control of the vehicle. The presented motion planning and control algorithm is tested using Model-In-the-Loop (MIL) method with the help of MATLAB® Driving Scenario Designer and Unreal Engine® Simulator by Epic Games®. Different …
Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi
Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi
Dissertations, Master's Theses and Master's Reports
Connected and autonomous vehicles are becoming the major focus of research for the industry and academia in the automotive field. Many companies and research groups have demonstrated the advantages and the requirement of such technology to improve the energy efficiency of vehicles, decrease the number of crash and road accidents, and control emissions.
This research delves into improving the autonomy of self-driving vehicles by implementing localized path planning algorithms to introduce motion control for obstacle avoidance during uncertainties. Lateral path planning is implemented using the A* algorithm combined with piecewise Bezier curve generation which provides an optimum trajectory reference to …