Vehicle Local Motion Planner for Small Obstacles Mitigation
Vehicle Local Motion Planner for Small Obstacles Mitigation
Description
Off-highway vehicles such as construction and mining vehicles, when driving autonomously, may often encounter unexpected obstacles, big or small. They need to make navigation decisions on the fly to efficiently and safely bypass those obstacles.
By leveraging Navigation Toolbox™ and Stateflow® with MATLAB®, you can design a search-based local motion planner to generate a minimal safe trajectory over an obstacle. This planner can handle a variety of cases including:
- Generating a new trajectory to drive over a small obstacle
- Generating a trajectory around the obstacle if it is too large
- Including reverse motion if the obstacle is detected very close to the vehicle
Setup
To Run: download the entire folder
open "SOMDemo.mlx"
Follow the script to run the code step by step
Users are also encouraged to change any parameters in the script to test varations of this demo.
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bat365 Products Required (Requires MATLAB release R2022b or newer. Before proceeding, ensure that the below products are installed:
MATLAB® Simulink® Navigation Toolbox® Stateflow®
Authors and acknowledgment
This demo is created by Seifeldin Dabbour, a bat365 Engineer as part of the Autonomous Construction Vehicle Webinar(/videos/design-and-simulating-autonomy-for-construction-vehicles-1679066541903.html)
License
The license is available in the License file within this repository
Include any other License information here, including third-party content using separate license agreements
Cite As
Seifeldin Dabbour, Julia Antoniou, You Wu (2023). Vehicle Local Motion Planner for Small Obstacles Mitigation (https://github.com/dryouwu/LocalMotionPlanner/releases/tag/1.1.0), GitHub. Retrieved April 25, 2023.
MATLAB Release Compatibility
Platform Compatibility
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Version | Published | Release Notes | |
---|---|---|---|
1.1.0 |