Behavior Trees for decision-making in Autonomous Driving
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Behavior Trees för beslutsfattande i självkörande fordon (Swedish)
This degree project investigates the suitability of using Behavior Trees (BT) as an architecture for the behavioral layer in autonomous driving. BTs originate from video game development but have received attention in robotics research the past couple of years. This project also includes implementation of a simulated traffic environment using the Unity3D engine, where the use of BTs is evaluated and compared to an implementation using ﬁnite-state machines (FSM). After the initial implementation, the simulation along with the control architectures were extended with additional behaviors in four steps. The different versions were evaluated using software maintainability metrics (Cyclomatic complexity and Maintainability index) in order to extrapolate and reason about more complex implementations as would be required in a real autonomous vehicle. It is concluded that as the AI requirements scale and grow more complex, the BTs likely become substantially more maintainable than FSMs and hence may prove a viable alternative for autonomous driving.
Place, publisher, year, edition, pages
2016. , 44 p.
behavior trees, autonomous driving, unity3d, self-driving cars
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-183060OAI: oai:DiVA.org:kth-183060DiVA: diva2:907048
Master of Science in Engineering - Computer Science and Technology
2016-02-09, Room 304, Teknikringen 14, Stockholm, 10:00 (English)
Folkesson, John, Docent, Associate Professor
Jensfelt, Patric, Professor