Assignment 2 Safe Autonomous Driving 2021
1 Vehicle Motion Planning
Consider the A star example introduced in lecture 3, please address the following problem.
1.1 [30pt] Implement a new heuristic function for A∗ and compare it with distance heuristic. Re-
quirements: 1) write down the computation rule for the designed heuristic, and justify the moti-
vation of this heuristic. 2) submit the comparison searching plots between A∗ with new heuristic
and distance heuristic, write description to explain the plots.
2 Vehicle Safe Control (Bonus)
2.1 [30pt] Consider the Unicycle 4 and safe control techniques introduced in lecture 3. Derive and
implement safe control for Unicycle4. Requirements: 1) Derive the safe control law, follow the
format introduced in lecture 3. 2) submit the plot for safe control of unicycle 4. (Please use the
nominal control for tracking from homework 1).
Released 5/31/2021. Due 6/7/2021. Page 1