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Full-Text Articles in Controls and Control Theory
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 …