GOLF CART TESTING

  • Testing Lane Keeping, Behavior, Mission, Parking spot detection, motion planner & control for Perpendicular/Parallel Parking.

 
 
 

HYBRID STATE ASTAR PATH PLANNER

  • A* search algorithm applied to the 3D kinematic state space of the vehicle (X, Y, Theta)

  • Uses a heuristic-based search in continuous coordinates that guarantees kinematic feasible paths

  • The smoothness of path ensured through cost penalties and using 5 forward and 5 reverse actions

  • Advanced collision detection using car configuration - obstacle intersection, optimized by using KD tree

  • Real-time replanner based on a change in vehicle position and the same goal