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Validation of a vehicle motion planner in an open‐source simulator
KTH, School of Electrical Engineering and Computer Science (EECS).
KTH, School of Electrical Engineering and Computer Science (EECS).
2018 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Validering av en fordonsrörelseplanerare i en open-source simulator (Swedish)
Abstract [sv]

På senare tid har autonoma fordon blivit ett omdiskuterat ämne. Dess effekter kan komma att inkludera bland annat färre traffikolyckor och lägre kostander för bilägande. För att säkerställa säkerheten på mjukvaran hos autonoma fordon är det viktigt att först testa den i en simulerad miljö. Syftet med detta kandidatarbete är att hitta en simulator som är kompatibel med en så kallad \textit{motion planning}-algoritm för autonoma fordon och använda simulatorn för att utvärdera algoritmen. För att genomföra detta har state of the art simulatorer utforskats och analyserats med deras kompabilitet med algoritmen i åtanke. Till slut har en simulator valts för att testa algoritmen. Resultaten visar att simulatorerna på marknaden idag är väldigt specifika i hur indata ska vara formatterad och ibland saknar täckande dokumentation. Den valda simulatorn är Gazebo, en mångsidig robotiksimulator. Den slutgiltiga simulationen är en enkel en-fordonssimulatior som har potential för vidare utveckling.

Abstract [en]

In recent years autonomous driving has become a hot topic. It’s effects could include reduced numbers of traffic incidents and reduced cost of car ownership. To ensure the safety of autonomous vehicle soft- ware it is critical to first test it in a simulated environment. The aim of this thesis is to find a simulator compatible with a motion planning algorithm, and use it as an evaluation tool for the algorithm. In order to do so, state of the art simulators have been explored and analyzed for their compatibility with the algorithm. Finally, a simulator was chosen to test the motion planning algorithm. The results show that the simulators on the market today require very specific input formats and sometimes lack extensive documentation. The chosen simulator was Gazebo, a multipurpose robotics simulator. The final simulation is a basic single-vehicle simulator that shows promise for further ex- tensions.

Place, publisher, year, edition, pages
2018.
Series
TRITA-EECS-EX ; 2018:190
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-229484OAI: oai:DiVA.org:kth-229484DiVA, id: diva2:1213527
Subject / course
Computer Science
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2018-06-26 Created: 2018-06-04 Last updated: 2018-06-26Bibliographically approved

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