Optimization and Fusion of Trajectories for the highly autonomous driving (Masterthesis)


Felix Weidner

08.11.2013, 10:30, room 4981


From the standpoint of robotics research the trajectory fusion system acts as local planner and the assistance system represents the global planner. The trajectory fusion is realized via the elastic band approach, a well known method for local path and trajectory planning. This thesis studies and verifies the usage of the Elastic Band approach for merging trajectories in detail.

The operability and efficiency of the trajectory fusion system gets tested and verified via simulations and vehicle tests. Furthermore this thesis contains also a detailed interpretation of the test results. The introduced system for trajectory fusion is implemented as modular software structure. Therefore the system is easy to expand and adapt for future tasks.