Description:

The objective of this personal project was to implement navigation and control algorithms from scratch for an autonomous vehicle in simulation.

Library:

• Developed a library of commonly used high-level planners and controllers. The high-level planners include A*, RRT, RRT*. The controllers include PID, Stanley controller, LQR and MPC

CARLA simulation:

• Implemented a hierarchical motion planner for a car in CARLA simulation
• FSM-based (Finite State Machine) behavioral planner was implemented for four scenarios: Lane Following, Lead Vehicle Following, Decelerating to Stop and Stopping at STOP sign.
• Trajectory rollout-based low-level planner was implemented for avoiding parked vehicles
• Trajectory rollout was implemented using quintic spirals to obtain smooth curvature
• Link to the github repo: Library of planners and controllers