planning autonomous vehicles in the absence of speed lanes using lateral potentials

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