Motion Planning of Autonomous Vehicles Rahul Kala Presentation

Motion Planning of Autonomous Vehicles Rahul 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. 14 November 2012 Post Graduate Seminar rkala. 99 k. org

A run through the background 1. The Problem 2. The Traffic (Speed Lanes) Speed Diversity Post Graduate Seminar Size Diversity Task Diversity 3. The Transition Image Courtesy: railway-technical. com, blogs. abc. net. au/

Vehicle Packing in Roads v/s Student Packing at 188, Call Centre Lab Rahul Kala 14 November 2012 Post Graduate Seminar rkala. 99 k. org

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 Image Courtesy: SSE, Uo. R Post Graduate Seminar

The ‘Cause’ of the Problem Vehicle Packing Student Packing Minimum road width Minimum Desk Space Maximum road width Maximum Desk Space 0. 25, 0. 5, 1 (lanes), entire road? 1, 1. 5, 2, entire row? Post Graduate Seminar

Objectives Vehicle Packing Student Packing Maximize Separation Maximize number of desks Join Vehicle Pool Ahead 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 Post Graduate Seminar

Rule 2: Centring Post Graduate Seminar

Rule 2’: CK Expansion 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 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 Post Graduate Seminar

Rule 5 -7: Single Lane Overtake Initiation Completion Cancellation Post Graduate Seminar

Rule 5’-7’: Exits and Returns MR Initiation MA Return Post Graduate Seminar MR Exit

Rule 8: Be Overtaken Post Graduate Seminar

Rule 8’: CB Condensation Post Graduate Seminar

Rule 9: Maintain Separation Steer Post Graduate Seminar

Rule 9’: Im. H/HS Shift Post Graduate Seminar

Rule 10: Slow Down Post Graduate Seminar

Rule 10’: Cj. S Retrieval Post Graduate Seminar

Rule 11: Discover Conflicting Interests Post Graduate Seminar

Rule 11’: MS/MS Confusion Post Graduate Seminar

Rule 12: Travel Straight Post Graduate Seminar

Rule 12’: Stay at your place! Post Graduate Seminar

To Summarize Vehicle Packing Student Packing Obstacle Avoidance JR Replacement Centring CK Expansion Lane Change S-P-R-E-A-D Meetings Overtake AM Jump Post Graduate Seminar

To Summarize Vehicle Packing Student Packing Single Lane Overtake Initiation MR/MA Exit Initiation Single Lane Overtake Completion MR Exit Single Lane Overtake Cancelation MA Return Be Overtaken CB Condensation Post Graduate Seminar

To Summarize Vehicle Packing Student Packing Maintain Separation Steer Im. H/HS Shift Slow Down Cj. S Retrieval Discover Conflicting Interests MS/MS Confusion Travel Straight Stay at your place Post Graduate Seminar

AND SOME ROBOTICS Post Graduate Seminar

Choices since one turn at a time is modelled Post Graduate Seminar

Choices Post Graduate Seminar

Choices since one turn at a time is modelled Post Graduate Seminar

Bounds Post Graduate Seminar 37

THANK YOU Image Courtesy: wikimedia. org Post Graduate Seminar