Vehicle Local Motion Planner for Small Obstacles Mitigation

Description

Off-highway vehicles such as construction and mining vehicles, when driving autonomously, may often encounter unexpected obstacles, big or small. They need to make navigation decisions on the fly to efficiently and safely bypass those obstacles.

By leveraging Navigation Toolbox™ and Stateflow® with MATLAB®, you can design a search-based local motion planner to generate a minimal safe trajectory over an obstacle. This planner can handle a variety of cases including:

1. Generating a new trajectory to drive over a small obstacle
2. Generating a trajectory around the obstacle if it is too large
3. Including reverse motion if the obstacle is detected very close to the vehicle

Setup

To Run: download the entire folder

open "SOMDemo.mlx"

Follow the script to run the code step by step

Users are also encouraged to change any parameters in the script to test varations of this demo.

MathWorks Products Required (http://www.mathworks.com)

Requires MATLAB release R2022b or newer. Before proceeding, ensure that the below products are installed:

MATLAB® Simulink® Navigation Toolbox® Stateflow®

Authors and acknowledgment

This demo is created by Seifeldin Dabbour, a MathWorks Engineer as part of the Autonomous Construction Vehicle Webinar(https://www.mathworks.com/videos/design-and-simulating-autonomy-for-construction-vehicles-1679066541903.html)

License

The license is available in the License file within this repository

Include any other License information here, including third-party content using separate license agreements