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- Title
- Hard real-time motion planning for autonomous vehicles
- Author(s)
- Walker, Andrew B.
- Abstract
- Motion planning is the problem of finding a continuous collision free path from an initial configuration (or state) to a goal. On board an autonomous vehicle, the capability to prevent collisions also depends on the sensing and control. Critically, motion planning is a necessary component for the safe operation of an autonomous vehicles. This work focuses on the problem of embedding a motion planner into a software system in which all tasks are required to satisfy hard deadlines. The key contribution of this work is to present a framework that can be used as a basis for incorporating approximately complete motion planning algorithms within a hard real-time system. This framework ensures that deadlines can be satisfied, with only mild constraints on other software. Two motion planning algorithms are presented as a verification of the framework, and are applied to solving dynamic motion planning problems related to the safe and efficient navigation of autonomous systems.
- Publication type
- Thesis (PhD)
- Research centre
- Swinburne University of Technology. Faculty of Engineering and Industrial Sciences
- Publication year
- 2011
- Keyword(s)
- Autonomous vehicles; Hard real-time system; Motion planning; WCET; Worst Case Execution Time
- Coverage
- Australasian Digital Theses collection
- Copyright
- Copyright © 2011 Andrew Bernard Walker.
- Thesis Supervisor
- [Alireza Bab-Hadiashar]
- Thesis Note
- [A thesis submitted in fulfilment of the requirements for the degree of Doctor of Philosophy, Swinburne University of Technology, 2011.]
- Full text
