MECH7710 Path Planning

Project for MECH7710 - Optimal Estimation implementing trajectory replanning methods for controlling a vehicle towards a goal in the presence of other vehicles. Vehicle Parameters are from a 2003 Infiniti G35.

Methods to Implement

• A*
• D*
• D*-lite
• Follow-the-gap

Vehicle Models

• 2 DOF Bicycle Model

Simulation Setup

Features

• Class oriented approach, everything is modular
• Each vehicle is comprised of 3 things:
  1. motion model class (currently a bicycle model)
  2. Filtering class (basic kalman filter estimating remote vehicle's orientation and yaw rate)
  3. Navigation class (currently uses Follow-the-gap (FTG) or A*)
• Simulation can contain N number of vehicles, each with different components and goal destinations

How to run

• demo.m runs the whole simulation
• buildWorld() is where the vehicles and goal locations are created
• FilterClass stores all process and sensor noise values, as well as a generic vehicle model