Motion Planning of Autonomous Vehicles

Post Graduate Seminar rkala.99k.org14 November 2012

Motion Planning of Autonomous VehiclesRahul Kala

Presentation of the paper: Kala, K. Warwick (2013) Motion Planning of Autonomous Vehicles in a Non-Autonomous Vehicle Environment without Speed Lanes, Engineering Applications of Artificial Intelligence, 26(5-6): 1588–1601.

Post Graduate Seminar

A run through the background1. The Problem

2. The Traffic(Speed Lanes)

3. The Transition

Image Courtesy: railway-technical.com, blogs.abc.net.au/

Task Diversity

Size Diversity

Speed Diversity

Post Graduate Seminar rkala.99k.org

Rahul Kala

Vehicle Packing in

RoadsStudent

Packing at 188, Call Centre Lab

14 November 2012

v/s

Post Graduate Seminar

Disclaimer

All characters and acronyms used in this presentation are fictitious. Resemblance to any student studying or passed out is purely coincidental

Post Graduate Seminar

The Problem

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Image Courtesy: SSE, UoR

Post Graduate Seminar

The ‘Cause’ of the Problem

Vehicle PackingMinimum

road width

Maximum road width

0.25, 0.5, 1 (lanes), entire road?

Student PackingMinimum

Desk Space

Maximum Desk Space

1, 1.5, 2, entire row?

Post Graduate Seminar

Objectives

Vehicle Packing

Maximize Separation

Join Vehicle Pool Ahead

Student Packing

Maximize number of desks

Desks with screen ‘hidden’ from door

entry

Post Graduate Seminar

The Approach

The rules of the GAME

Post Graduate Seminar

Rule 1: Obstacle Avoidance

Post Graduate Seminar

Rule 1’: JR Replacement

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 2: Centring

Post Graduate Seminar

Rule 2’: CK Expansion

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 3: Lane Change

Would it be OK to turn??

Post Graduate Seminar

Rule 3’: S-P-R-E-A-D Meetings

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Would it be OK to change??

Post Graduate Seminar

Rule 4: Overtake

Can I fit in??

Side? Place?

Post Graduate Seminar

Rule 4: Overtake

Post Graduate Seminar

Rule 4’: AM Jump

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 5-7: Single Lane Overtake

Initiation Completion

Cancellation

Post Graduate Seminar

Rule 5’-7’: Exits and Returns

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

MR Exit

MR Initiation

MA Initiation

MA Return

Post Graduate Seminar

Rule 8: Be Overtaken

Post Graduate Seminar

Rule 8’: CB Condensation

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 9: Maintain Separation Steer

Post Graduate Seminar

Rule 9’: ImH/HS Shift

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 10: Slow Down

Post Graduate Seminar

Rule 10’: CjS Retrieval

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 11: Discover Conflicting Interests

Post Graduate Seminar

Rule 11’: MS/MS Confusion

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

Rule 12: Travel Straight

Post Graduate Seminar

Rule 12’: Stay at your place!

02 01

03 04

06 05

07 08

10 11

13 14

17 18

21 22

15 16

19 20

25 26

29 30

23 24

27 2831

09

12

Post Graduate Seminar

To SummarizeVehicle PackingObstacle

Avoidance

Centring

Lane Change

Overtake

Student Packing

JR Replacement

CK Expansion

S-P-R-E-A-D Meetings

AM Jump

Post Graduate Seminar

To SummarizeVehicle PackingSingle Lane

Overtake InitiationSingle Lane Overtake

CompletionSingle Lane Overtake

Cancelation

Be Overtaken

Student PackingMR/MA Exit Initiation

MR Exit

MA Return

CB Condensation

Post Graduate Seminar

To SummarizeVehicle Packing

Maintain Separation Steer

Slow Down

Discover Conflicting Interests

Travel Straight

Student Packing

ImH/HS Shift

CjS Retrieval

MS/MS Confusion

Stay at your place

Post Graduate Seminar

AND SOME ROBOTICS

Post Graduate Seminar

Choicessince one turn at a time is modelled

Post Graduate Seminar

Choices

Post Graduate Seminar

Choicessince one turn at a time is modelled

Post Graduate Seminar

Bounds

37

Post Graduate Seminar

THANK YOU

Image Courtesy: wikimedia.org