30 credits - Vehicle motion planning with search trees and post-optimization

Sodertalje, Stockholm
den 17 september 2019
den 15 november 2019
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The Autonomous Vehicle Motion Planning and Control group at Scania develops the key components for local motion planning and control for our autonomous vehicles. A thesis project at the group and Scania is a great opportunity to work at the forefront of autonomous vehicle development, and an excellent way of making contacts for your future working life.

Motion planning is an essential part of the autonomous system, and aim to calculate trajectories for the vehicle to follow. These trajectories must meet the dynamical constraints of the vehicle, as well as the constraints from the surroundings. A common approach to planning the path between a start point and a goal point is to use a Rapidly exploring random tree (RRT). These are extensively used, but they tend to generate unnecessary long paths with excessive steering ("oscillatory") behavior. Therefore, a lot of work has been put into creating more sophisticated versions of the RRT where these shortcomings are reduced, as well as post-optimization algorithms. This however, comes at the cost of increased complexity and computational time.

To develop an own, or suggest an existing, version of the RRT and path post-optimization algorithm.

To evaluate different versions of the RRT and path post-optimization algorithms, and to develop own algorithms. The algorithms shall be evaluated based on their performance, complexity and computational time, and recommendations shall be made for under what circumstances a certain algorithm is best suited. The algorithms shall be implemented and evaluated in simulation, and preferably also in a real vehicle.

Master (civilingenjör) in electrical engineering, physics, mechatronics, computer science or similar. Preferably with specialization in control theory, robotics or computer science.
Number of students: 1
Start date: January 2020
Estimated time needed: 20 weeks

Contact persons and supervisors:

Robin Andersson, Autonomous Vehicle Motion Planning and Control,
08 - 553 702 65
Enclose CV, cover letter and transcript of records .

Scania är en världsledande leverantör av transportlösningar. Tillsammans med våra partners och kunder driver vi omställningen till ett hållbart transportsystem. 2018 levererade vi 88 000 lastbilar, 8 500 bussar samt 12 800 industri- och marinmotorer till våra kunder. Nettoomsättningen uppgick till mer än 137 miljarder kronor, varav cirka 20 procent var tjänsterelaterade. Scania grundades 1891 och är idag verksamt i fler än 100 länder och har cirka 52 000 medarbetare. Forskning och utveckling är koncentrerad till Sverige, med filialer i Brasilien och Indien. Tillverkning sker i Europa, Latinamerika och Asien, med regionala produktionscentrum i Afrika, Asien och Eurasien. Scania är en del av TRATON SE. För mer information besök:

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