Trajectory planning for fast moving cars

• Thesis title in Czech: Plánování dráhy pro rychle se pohybující automobily
• Thesis title in English: Trajectory planning for fast moving cars
• Key words: plánování; trasa; mobilní roboti
• English key words: planning; trajectory; mobile robots
• Academic year of topic announcement: 2017/2018
• Thesis type: diploma thesis
• Thesis language: angličtina
• Department: Department of Theoretical Computer Science and Mathematical Logic (32-KTIML)
• Supervisor: prof. RNDr. Roman Barták, Ph.D.
• Author: hidden - assigned and confirmed by the Study Dept.
• Date of registration: 03.04.2018
• Date of assignment: 03.04.2018
• Confirmed by Study dept. on: 09.04.2018
• Date and time of defence: 08.07.2020 09:00
• Date of electronic submission: 26.05.2020
• Date of submission of printed version: 28.05.2020
• Date of proceeded defence: 08.07.2020
• Opponents: RNDr. David Obdržálek, Ph.D.

Guidelines

The goal of thesis is to propose and implement a trajectory planning algorithm and a control mechanism for a fast moving mobile robot (race car model). The car should move as fast as possible (the metrics) while avoiding collision with static (slowly moving) obstacles. The proposed techniques will be verified and evaluated on a real robot.

References

Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun: Principles of Robot Motion: Theory, Algorithms, and Implementations, The MIT Press, 2005

Steven M. LaValle: Planning Algorithms, Cambridge University Press, 2006

F1/10 Autonomous Racing Competition, http://f1tenth.org