CrowdSusrfer on Autonomous Wheelchair(with Dijkstra Global Plan)
Published:
CrowdSurfer is a Path Planning Algorithm that is built on top of the Sampling based optimizer called PRIEST(our previous work). CrowdSurfer makes use of a Vector Quantized VAE to generate a distribution diverse motion primitives for PRIEST to sample from. The VQVAE model is trained by Behavior Cloning using Expert Demonstrations of a wheelchair navigating in extremely crowded environments.
This work has been submitted to IEEE ICRA 2025 and is currently under review.
Features
- Multi-modal in nature.
- Can navigate in extremely crowded environments with more than 50 humans.
- Excellent run-time speeds of 40ms per trajectory rollout.
Technologies Used
- Generative Modeling (VQ-VAE + PixelCNN)
- Batch Optimization
- ROS Nav Stack