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DECISION-MAKING FOR AUTONOMOUS CONSTRUCTION VEHICLES
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Autonomous driving requires tactical decision-making while navigating in a dynamic shared space environment. The complexity and uncertainty in this process arise due to unknown and tightly-coupled interaction among traffic users. This thesis work formulates an unknown navigation problem as a Markov decision process (MDP), supported by models of traffic participants and userspace. Instead of modeling a traditional MDP, this work formulates a Multi-policy decision making (MPDM) in a shared space scenario with pedestrians and vehicles. The employed model enables a unified and robust self-driving of the ego vehicle by selecting a desired policy along the pre-planned path. Obstacle avoidance is coupled within the navigation module performing a detour off the planned path and obtaining a reward on task completion and penalizing for collision with others. In addition to this, the thesis work is further extended by analyzing the real-time constraints of the proposed model. The performance of the implemented framework is evaluated in a simulation environment on a typical construction (quarry) scenario. The effectiveness and efficiency of the elected policy verify the desired behavior of the autonomous vehicle.

Place, publisher, year, edition, pages
2019.
Keywords [en]
shared-space users, MPDM, timing analysis, planning and decision-making, autonomous vehicle, MDP, reinforcement learning, social force model
National Category
Robotics Embedded Systems
Identifiers
URN: urn:nbn:se:mdh:diva-44250OAI: oai:DiVA.org:mdh-44250DiVA, id: diva2:1326805
External cooperation
Volvo Construction Equipment, Eskilstuna
Subject / course
Computer Science
Supervisors
Examiners
Available from: 2019-06-25 Created: 2019-06-18 Last updated: 2019-06-25Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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