IV 2012, Spain rkala.99k.org5th June, 2012

Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral PotentialsRahul Kala, Kevin Warwick

Publication of paper: R. Kala, K. Warwick (2012) Planning autonomous vehicles in the absence of speed lanes using lateral potentials, Proceedings of the 2012 IEEE Intelligent Vehicles Symposium, Alcalá de Henares, Spain, pp. 597-602. 

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Is speed lane traffic best?

Requires a deep thought!

When bad?

• Diverse widths

• Diverse speeds

• Indian traffic!

Disadvantages applicable

here?• Intelligent

Vehicles• Is future

diverse?

• Motorists between lanes?

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Problems?

Beyond imaginations

Controls

Vision

LocalizationPlanning

Coordination

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What we do?

Height of madness!

Squeeze In Get aside Overtake

Brake Brake Brake

Oops Struck

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How we do?

Its ‘not’ like planning a mobile robot

Fuzzy Inference System

Genetic Algorithms

Graph-based solutions

Hierarchical Planning

Potential

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LATERAL POTENTIALS

Simple, Elegant, Fast

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Artificial Potential Fields

A Primer

Source: Tiwari R, Shukla A, Kala R. (2013) Intelligent Planning for Mobile Robotics: Algorithmic Approaches, IGI Global Publishers, doi: 10.4018/978-1-4666-2074-2.

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Planning

Longitudinal

Distance, Speed,

Acceleration measures

Lateral

Lateral Potentials

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The basics

and coordinate system of use

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Lateral Potentials

How would ‘you’ have done it?

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Considerations

• Decision 1: Clockwise or Anti-Clockwise?

• Decision 2: Magnitude?– Time to Collision (any?)– Distance Measure

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RESULTS

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Results - 1

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Results - 2

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Parameters

ParametersLateral Sensitivity

Longitudinal Sensitivity

Mixed Sensitivity

Cooperation

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Analysis -1

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Analysis - 2

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Analysis - 3

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Obviously Recommended

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THANK YOU

Acknowledgements:

• Commonwealth Scholarship Commission in the United Kingdom

• British Council