Description

We present a novel approach for Multi-Modal Motion Planning using a Hybrid Automaton. We present a preliminary framework here, with the switching conditions chosen based on cluttering in the environment. Cluttering is classified based on the points within a predefined distance threshold. We then present the simulation environment and evaluation metrics to select various planners as states for the Hybrid Automaton

My Role

• Developed a Hybrid Automaton framework for autonomous vehicles based on sensor data

• Implemented RRT* & Informed RRT* with a C++ node for a high-level plan

• Developed guard and reset conditions for the Hybrid Automaton