Name: GABRIEL ANDRADE NUNES DE MORAES
Type: MSc dissertation
Publication date: 26/05/2022
Advisor:
Name![]() |
Role |
---|---|
CLAUDINE SANTOS BADUE | Advisor * |
Examining board:
Name![]() |
Role |
---|---|
ALBERTO FERREIRA DE SOUZA | Co advisor * |
CLAUDINE SANTOS BADUE | Advisor * |
THIAGO OLIVEIRA DOS SANTOS | Internal Examiner * |
Summary: We propose an image-based real-time path planner for the self-driving car Intelligent Autono-
mous Robotic Automobile (IARA), named DeepPath. DeepPath uses a convolutional neural
network (CNN) for inferring paths from images. During the self-driving car operation, Deep-
Path receives an image and the current car pose. Then, it sends the image to a CNN trained to
infer a model of the path. After that, DeepPath generates the path in the IARAs coordinate
system using the path model. Subsequently, given the current IARAs pose, DeepPath trans-
forms each pose of the path in the IARAs coordinate system into another pose in the world
coordinate system. Finally, it sends the path to the IARAs Behavior Selector subsystem, the
next subsystem in the IARAs Decision-Making system. We evaluated the performance of
DeepPath in real world scenarios. Our results showed that DeepPath is able to correctly generate
paths for IARA that differ only slightly from those defined by humans.