Neuigkeit212: Unterschied zwischen den Versionen
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a local solution to this problem is sufficient for highway driving, this thesis | a local solution to this problem is sufficient for highway driving, this thesis | ||
focuses on the computation of a global solution, which is typically required to | focuses on the computation of a global solution, which is typically required to | ||
− | handle unstructured environments or complex maneuvers. Relevant | + | handle unstructured environments or complex maneuvers. Relevant scenarios include dead ends, blocked lanes, or various parking problems that have |
proven difficult for automated vehicles to solve, particularly when space is | proven difficult for automated vehicles to solve, particularly when space is | ||
tight. | tight. | ||
Zeile 21: | Zeile 21: | ||
rate (HCR) steer are presented that extend the smoothness of both CC and | rate (HCR) steer are presented that extend the smoothness of both CC and | ||
HC steer from curvature to curvature rate continuity. This allows to increase | HC steer from curvature to curvature rate continuity. This allows to increase | ||
− | the comfort for passengers as well as the tracking performance of the | + | the comfort for passengers as well as the tracking performance of the low level motion controller. |
− | The second part of this thesis focuses on motion planning under | + | The second part of this thesis focuses on motion planning under uncertainty aiming to improve the robustness of the motion plans by explicitly |
− | considering the localization and control errors of the system. For this | + | considering the localization and control errors of the system. For this purpose, the previously mentioned steering functions are extended to belief |
− | space in which every vehicle state is associated with its respective | + | space in which every vehicle state is associated with its respective uncertainty. Furthermore, two novel algorithms for probabilistic collision checking |
are introduced in order to bound the collision probability of the computed | are introduced in order to bound the collision probability of the computed | ||
− | vehicle motion. The third part addresses the problem of slow convergence in | + | vehicle motion. The third part addresses the problem of slow convergence in sampling-based motion planning if samples are only drawn from a uniform distribution. |
To overcome this problem, a data-driven approach is presented that utilizes a | To overcome this problem, a data-driven approach is presented that utilizes a | ||
convolutional neural network to predict a distribution over future vehicle | convolutional neural network to predict a distribution over future vehicle | ||
Zeile 35: | Zeile 35: | ||
Finally, the proposed methods from all three parts are integrated into the | Finally, the proposed methods from all three parts are integrated into the | ||
sampling-based motion planner RRT* [93] and its bidirectional extension | sampling-based motion planner RRT* [93] and its bidirectional extension | ||
− | BiRRT* [86] to demonstrate their benefits in a broad set of challenging | + | BiRRT* [86] to demonstrate their benefits in a broad set of challenging environments. The motion planner is not only tested in simulation, but also |
integrated into a research vehicle proving its effectiveness in real-world | integrated into a research vehicle proving its effectiveness in real-world | ||
applications. | applications. | ||
Zeile 43: | Zeile 43: | ||
a local solution to this problem is sufficient for highway driving, this thesis | a local solution to this problem is sufficient for highway driving, this thesis | ||
focuses on the computation of a global solution, which is typically required to | focuses on the computation of a global solution, which is typically required to | ||
− | handle unstructured environments or complex maneuvers. Relevant | + | handle unstructured environments or complex maneuvers. Relevant scenarios include dead ends, blocked lanes, or various parking problems that have |
proven difficult for automated vehicles to solve, particularly when space is | proven difficult for automated vehicles to solve, particularly when space is | ||
tight. | tight. | ||
Zeile 58: | Zeile 58: | ||
rate (HCR) steer are presented that extend the smoothness of both CC and | rate (HCR) steer are presented that extend the smoothness of both CC and | ||
HC steer from curvature to curvature rate continuity. This allows to increase | HC steer from curvature to curvature rate continuity. This allows to increase | ||
− | the comfort for passengers as well as the tracking performance of the | + | the comfort for passengers as well as the tracking performance of the low level motion controller. |
− | The second part of this thesis focuses on motion planning under | + | The second part of this thesis focuses on motion planning under uncertainty aiming to improve the robustness of the motion plans by explicitly |
− | considering the localization and control errors of the system. For this | + | considering the localization and control errors of the system. For this purpose, the previously mentioned steering functions are extended to belief |
− | space in which every vehicle state is associated with its respective | + | space in which every vehicle state is associated with its respective uncertainty. Furthermore, two novel algorithms for probabilistic collision checking |
are introduced in order to bound the collision probability of the computed | are introduced in order to bound the collision probability of the computed | ||
− | vehicle motion. The third part addresses the problem of slow convergence in | + | vehicle motion. The third part addresses the problem of slow convergence in sampling-based motion planning if samples are only drawn from a uniform distribution. |
To overcome this problem, a data-driven approach is presented that utilizes a | To overcome this problem, a data-driven approach is presented that utilizes a | ||
convolutional neural network to predict a distribution over future vehicle | convolutional neural network to predict a distribution over future vehicle | ||
Zeile 72: | Zeile 72: | ||
Finally, the proposed methods from all three parts are integrated into the | Finally, the proposed methods from all three parts are integrated into the | ||
sampling-based motion planner RRT* [93] and its bidirectional extension | sampling-based motion planner RRT* [93] and its bidirectional extension | ||
− | BiRRT* [86] to demonstrate their benefits in a broad set of challenging | + | BiRRT* [86] to demonstrate their benefits in a broad set of challenging environments. The motion planner is not only tested in simulation, but also |
integrated into a research vehicle proving its effectiveness in real-world | integrated into a research vehicle proving its effectiveness in real-world | ||
applications. | applications. |
Aktuelle Version vom 6. August 2021, 11:57 Uhr
Best Dissertation Award - IEEE ITS Society
Holger Banzhaf wurde für seine Dissertation Nonholonomic Motion Planning for Automated Vehicles in Dense Scenarios mit dem Best Dissertation Award ausgezeichnet.
Abstract
Motion planning is one of the crucial components in the software stack of an automated vehicle. It is responsible for the computation of a safe and
preferably optimal trajectory from a given start state to a desired goal. While
a local solution to this problem is sufficient for highway driving, this thesis
focuses on the computation of a global solution, which is typically required to
handle unstructured environments or complex maneuvers. Relevant scenarios include dead ends, blocked lanes, or various parking problems that have
proven difficult for automated vehicles to solve, particularly when space is
tight.
The contributions of this thesis can be grouped into three parts. The first
part focuses on steering functions for car-like robots, which play a major
role in both search-based and sampling-based motion planning. Within this
context, the novel steering function hybrid curvature (HC) steer is introduced
that computes smoother paths than the well-known Reeds-Shepp steering
function [152] and shorter paths than continuous curvature (CC) steer [53].
Especially in tight environments, HC steer proves to be a powerful tool
for the computation of directly executable motion plans with continuous
curvature between direction switches. In addition to that, the two novel
steering functions continuous curvature rate (CCR) and hybrid curvature
rate (HCR) steer are presented that extend the smoothness of both CC and
HC steer from curvature to curvature rate continuity. This allows to increase
the comfort for passengers as well as the tracking performance of the low level motion controller.
The second part of this thesis focuses on motion planning under uncertainty aiming to improve the robustness of the motion plans by explicitly
considering the localization and control errors of the system. For this purpose, the previously mentioned steering functions are extended to belief
space in which every vehicle state is associated with its respective uncertainty. Furthermore, two novel algorithms for probabilistic collision checking
are introduced in order to bound the collision probability of the computed
vehicle motion. The third part addresses the problem of slow convergence in sampling-based motion planning if samples are only drawn from a uniform distribution.
To overcome this problem, a data-driven approach is presented that utilizes a
convolutional neural network to predict a distribution over future vehicle
poses given the current environment and the boundary conditions of the
planning problem. Samples from this distribution can then be used to bias
the motion planner towards promising regions in the state space allowing to
improve the planning performance in complex scenarios.
Finally, the proposed methods from all three parts are integrated into the
sampling-based motion planner RRT* [93] and its bidirectional extension
BiRRT* [86] to demonstrate their benefits in a broad set of challenging environments. The motion planner is not only tested in simulation, but also
integrated into a research vehicle proving its effectiveness in real-world
applications.
Aus der Forschungsgruppe Angewandte Technisch-Kognitive Systeme