Planning Autonomous Vehicles in the Absence of Speed

Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials Rahul 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. th 5 June, 2012 IV 2012, Spain rkala. 99 k. org

Is speed lane traffic best? Requires a deep thought! When bad? • Diverse widths • Diverse speeds • Indian traffic! IV-2012, Spain, 5 th June, 2012 Disadvantages applicable here? • Intelligent Vehicles • Is future diverse? • Motorists between lanes? 2

Problems? Beyond imaginations Controls Coordination Planning IV-2012, Spain, 5 th June, 2012 Vision Localization 3

What we do? Height of madness! Squeeze In Get aside Brake IV-2012, Spain, 5 th June, 2012 Overtake Oops Struck 4

How we do? Fuzzy Inference System Genetic Algorithms Graph-based solutions Hierarchical Planning Potential Its ‘not’ like planning a mobile robot IV-2012, Spain, 5 th June, 2012 5

LATERAL POTENTIALS Simple, Elegant, Fast IV-2012, Spain, 5 th June, 2012 6

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. IV-2012, Spain, 5 th June, 2012 7

Planning IV-2012, Spain, 5 th June, 2012 Longitudinal Lateral Distance, Speed, Acceleration measures Lateral Potentials 8

The basics and coordinate system of use IV-2012, Spain, 5 th June, 2012 9

Lateral Potentials How would ‘you’ have done it? IV-2012, Spain, 5 th June, 2012 10

Considerations • Decision 1: Clockwise or Anti-Clockwise? • Decision 2: Magnitude? – Time to Collision (any? ) – Distance Measure IV-2012, Spain, 5 th June, 2012 11