When: Thurs 16th of Apr, 1:00pm
Where: Seminars have moved online, RSVP here.
Speaker: Karan Narula
Title: Two-Level Hierarchical Planning in a Known Semi-Structured Environment
Abstract: The application of motion planning for autonomous vehicles has been primarily focused either in highly structured or unstructured environments. However, many environments in the real-world share the characteristics of both and can be classified as semi-structured. The adaptation of the strategies from other environments to that of semi-structured, although possible, do not produce trajectories with the required characteristics, especially when the environment is dynamic. In this talk I present a practical two-level hierarchical planning strategy consisting of a discrete lane-network-based global planner and Hybrid A* local planner that (i) generates a smooth, safe and kinematically feasible path in real-time; (ii) considers structural constraints of the environment from an a priori map. I will present preliminary results from the field test at Callan Park and future directions of the project.
Bio: Karan recently joined the ITS research group of ACFR after completing his PhD from UNSW in 2019. He is currently focussing on navigation strategies for autonomous vehicles.