Advisors: Prof. Keyvan Hashtrudi-Zaad, Prof. Joshua Marshall

  • Worked with the research team on the SAE AutoDrive II Challenge
  • Implemented a full-stack pipeline for self-driving car test-bed, which includes:
  • A complete simulation of the map and environment in Carla.
  • Perception and planning stack comprised of route planning, prediction, behavioural planning and path generation
  • NMPC based controller for the ego vehicle, a Reciprocal Velocity Obstacles based controller for the traffic fleet, an adaptive behavioural planner with a dynamic velocity profiler.
  • Unscented Kalman filter based sensor fusion for sensors including Lidar, GPS, IMU and Encoders. The work is still in progress and is expected to be completed by September.