Advanced Path Planning Algorithms for Autonomous Vehicles Training Course

Introduction to Path Planning for Autonomous Vehicles

• Fundamentals and challenges of path planning
• Applications in autonomous driving and robotics for government
• Review of traditional and modern planning techniques for government use

Graph-Based Path Planning Algorithms

• Overview of A* and Dijkstra algorithms for efficient route determination
• Implementing A* for grid-based pathfinding in complex environments
• Dynamic variants: D* and D* Lite for adapting to changing conditions in real-time

Sampling-Based Path Planning Algorithms

• Random sampling techniques: Rapidly-exploring Random Trees (RRT) and RRT*
• Path smoothing and optimization for improved performance
• Handling non-holonomic constraints to ensure feasible paths

Optimization-Based Path Planning

• Formulating the path planning problem as an optimization challenge for government applications
• Trajectory optimization using nonlinear programming methods
• Gradient-based and gradient-free optimization techniques for enhanced precision

Learning-Based Path Planning

• Deep reinforcement learning (DRL) for optimizing path planning in dynamic scenarios
• Integrating DRL with traditional algorithms to enhance adaptability
• Adaptive path planning using machine learning models for government operations

Handling Dynamic and Uncertain Environments

• Reactive planning techniques for real-time response in uncertain conditions
• Obstacle avoidance and predictive control strategies for enhanced safety
• Integrating perception data for adaptive navigation in complex environments

Evaluating and Benchmarking Path Planning Algorithms

• Metrics for assessing path efficiency, safety, and computational complexity for government use
• Simulating and testing algorithms in ROS and Gazebo for robust validation
• Case study: Comparing RRT* and D* in complex scenarios to inform decision-making

Case Studies and Real-World Applications

• Path planning for autonomous delivery robots in public sector operations
• Applications in self-driving cars and unmanned aerial vehicles (UAVs) for government missions
• Project: Implementing an adaptive path planner using RRT* for government projects

Summary and Next Steps