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Predictive Path Planning For Vehicles at Non-signalized Intersections

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dc.contributor.authorWu, Xihuien
dc.contributor.committeechairEskandarian, Azimen
dc.contributor.committeememberWicks, Alfred L.en
dc.contributor.committeememberZuo, Leien
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2022-03-18T06:00:07Zen
dc.date.available2022-03-18T06:00:07Zen
dc.date.issued2020-09-23en
dc.description.abstractIn the context of path planning, the non-signalized intersections are always a challenging scenario due to the mixture of traffic flow. Most path planning algorithms use the information at the current time instance to generate an optimal path. Because of the dynamics of the non-signalized intersections, iteratively generating a path in a high frequency is necessary, resulting in an enormous waste of computational resources. Rapidly-exploring Random Tree (RRT) as an effective local path planning methodology can determine a feasible path in the static environment. Few improvements are proposed to adopt the RRT to the non-signalized intersections. Gaussian Processes Regression (GPR) is used to predict the other vehicles' future location. The location information in the current and future time instance is used to generate a probability position map. The map not only avoids useless sampling procedures but also increases the speed of generating a path. The optimal steering strategy is deployed to guarantee the trajectory is collision-free in both current and future time frames. Overall, the proposed probabilistic RRT algorithm can select a collision-free path in the non-signalized intersections by combining the GPR, probability position map, and optimal-steering.en
dc.description.abstractgeneralPath planning problem is a challenge in the non-signalized intersections. Many path planning algorithms can generate an optimal path in the space domain but not in the time domain. Thus, the algorithms need to run iteratively at a high frequency to ensure the path's optimality in the time domain. By combining prediction and the standard RRT path planning algorithm, the resulting path ensures to be optimal in the space and time domain.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:27049en
dc.identifier.urihttp://hdl.handle.net/10919/109355en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectpath planningen
dc.subjectautonomous vehicleen
dc.subjectmotion planningen
dc.titlePredictive Path Planning For Vehicles at Non-signalized Intersectionsen
dc.typeThesisen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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