Occupancy Grid Based Reactive Planner

Occupancy Grid Based Reactive Planner

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple...

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Veröffentlicht in:arXiv.org 2022-12
Hauptverfasser: Hall, Benjamin, Goeden, Andrew, Reddy, Sahan, Gallion, Timothy, Koduru, Charles, M Hassan Tanveer
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Algorithms
Finishes
Path planning
Perception
Racing
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creator Hall, Benjamin
Goeden, Andrew
Reddy, Sahan
Gallion, Timothy
Koduru, Charles
M Hassan Tanveer
description This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event, both of which resulting in first place finishes. Using a simple LiDAR-based perception pipeline feeding into an occupancy grid based expansion algorithm, we determine a goal point to drive. This pipeline successfully achieved reliable and consistent laps in addition with occupancy grid algorithm to know the ways around a cone-defined track with an averaging speeds of 6.85 m/s over a distance 434.2 meters for a total lap time of 63.4 seconds.
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subjects Algorithms
Finishes
Path planning
Perception
Racing
title Occupancy Grid Based Reactive Planner
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