CARLA Motion Planning and Control

Behaviour Planner, Reactive path planning, Velocity profile Generator, motion control

Last updated on Aug 1, 2023

This planning scheme contains several parts:

Behaviour Planner:
Finite State Machine for Intersection scenario (behavioural_planner.py)
Three modes: Fellow lane, Decelerate to stop, Stay stopped
Reactive path planner:
Polynomial Spirals planner (path_optimizer.py) + Comforting Lattice Planner (collision_checker.py)
Velocity profile Generator:
Trapezoidal Profile + Linear ramp profile (velocity_planner.py)

Please refer to Github Link for the detail codes.