Post Graduate Seminar rkala.99k.org 14 November 2012 Motion Planning of Autonomous Vehicles Rahul Kala Presentation of the paper: Kala, K. Warwick (2013)

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Presentation transcript:

Post Graduate Seminar rkala.99k.org 14 November 2012 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.

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

Post Graduate Seminar rkala.99k.org Rahul Kala Vehicle Packing in Roads Student 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 Image Courtesy: SSE, UoR

Post Graduate Seminar The ‘Cause’ of the Problem Vehicle Packing Minimum road width Maximum road width 0.25, 0.5, 1 (lanes), entire road? Student Packing Minimum 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

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 InitiationCompletion Cancellation

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

Post Graduate Seminar Rule 8: Be Overtaken

Post Graduate Seminar Rule 8’: CB Condensation

Post Graduate Seminar Rule 9: Maintain Separation Steer

Post Graduate Seminar Rule 9’: ImH/HS Shift

Post Graduate Seminar Rule 10: Slow Down

Post Graduate Seminar Rule 10’: CjS 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 Obstacle AvoidanceCentringLane ChangeOvertake Student Packing JR ReplacementCK ExpansionS-P-R-E-A-D MeetingsAM Jump

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

Post Graduate Seminar To Summarize Vehicle Packing Maintain Separation Steer Slow Down Discover Conflicting Interests Travel Straight Student Packing ImH/HS ShiftCjS RetrievalMS/MS ConfusionStay 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 37

Post Graduate Seminar THANK YOU Image Courtesy: wikimedia.org