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Local Path Planning Subsystem, Constraints:, Perception Module,…
Local Path Planning Subsystem
Constraints:
i) Maximum allowable Curvature
ii) Maximum Velocity
Perception Module
New Dynamic Obsatcles Detection
Environment Features Identification
(Stop signs/ Traffic Lights)
Localization Module
Behavioral Planner Module
Finite State Machines / Reinforcement Learning
Next Planned Action
Local Planner Module
Conformal Lattice Planner/ Reactive Planner
Check for Collision Free Path
Optimized Path
Publish Waypoints as Topics
Vehicle Control Subsystem
1 more item...
State Tracking Module for Other Dynamic Obstacles
Optimization Parameters
Legends
Modules
Outputs
Process
Inputs
Subsystems
Optimal Path