School of Systems, Engineering, University of Reading rkala.99k.org April, 2013 Motion Planning for Multiple Autonomous Vehicles Rahul Kala Results.

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Presentation transcript:

School of Systems, Engineering, University of Reading rkala.99k.org April, 2013 Motion Planning for Multiple Autonomous Vehicles Rahul Kala Results

Motion Planning for Multiple Autonomous Vehicles GENETIC ALGORITHMS rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org Vehicle position at the time of blockage Blockage

Motion Planning for Multiple Autonomous Vehicles Results - 2 vehicle rkala.99k.org b

Motion Planning for Multiple Autonomous Vehicles Results - Overtaking rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Following rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles RAPIDLY-EXPLORING RANDOM TREES rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Single Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Multi Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Multi vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles RAPIDLY-EXPLORING RANDOM TREES CONNECT rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Single Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results - Multi Vehicles rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Multi Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Avoidance rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Avoidance rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles MULTI LEVEL PLANNING rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Single Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Two Vehicles rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Two Vehicles rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results - Multi Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results - Overtaking rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Following rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles DYNAMIC DISTRIBUTED LANES rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles FUZZY LOGIC rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Single Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Avoidance rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Multi Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Multi Vehicle rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results - Crossing rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles LATERAL POTENTIALS rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles ELASTIC STRIP rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles LOGIC BASED PLANNING rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org Equal aggression factors Unequal aggression factors

Motion Planning for Multiple Autonomous Vehicles Results – Aggression Higher aggressive vehicle makes it to the end rkala.99k.org

Motion Planning for Multiple Autonomous Vehicles Results – Single Lane Overtake rkala.99k.org

Motion Planning for Multiple Autonomous Vehiclesrkala.99k.org Thank You Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom British Council