Motion Planning Algorithms comparison for autonomous driving vehicle

I am doing my master thesis on algorithms of motion planning which are useful for path planning and control of vehicle. I need some suggestions or guidence to creation of the algorithms desire scenarios in which I have to run them and get their results. Scenarios are like Automated Parking, Urban road design and on highway lane change or following behaviour planning. If anyone knows about this or have a deepen knowledge please consider my request. I will deeply grateful for them. Thank you very much.

Answer 1

[Rohit Kulkarni]

Hi Parth,

In my understanding you want to know about various motion planning algorithms that can be applied to Automated Parking, Urban road design and on highway lane change.

There are many algorithms that can be applied to these scenarios, such as A*, RRT, RRT*, Minimum Snap Trajectory Generation, etc.

If you are looking for some MATLAB code examples of these algorithms, Please refer the documentations provided below

• This documentation shows how to generate code for a motion planning algorithm using a robot model imported from a URDF file: https://in.mathworks.com/help/robotics/ug/generate-code-for-motion-planning-imported-robot.html
• This documentation shows how to use the Navigation Toolbox to perform motion planning tasks such as path planning, trajectory generation and dynamic replanning: https://in.mathworks.com/help/nav/motion-planning.html
• This documentation page has a video series that introduces popular search and sampling-based motion planning algorithms such as Hybrid A*, RRT and RRT*: https://in.mathworks.com/videos/series/motion-planning-hands-on-using-rrt-algorithm.html

Hope it help!