IV 2012, Spain rkala.99k.org 5 th June, 2012 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

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

IV-2012, Spain, 5 th June, 2012 Problems? Beyond imaginations  3 ControlsVisionLocalizationPlanningCoordination

IV-2012, Spain, 5 th June, 2012 What we do? Height of madness! 4 Squeeze InGet asideOvertake Brake Brake Brake Oops Struck

IV-2012, Spain, 5 th June, 2012 How we do? Its ‘not’ like planning a mobile robot 5 Fuzzy Inference SystemGenetic AlgorithmsGraph-based solutionsHierarchical PlanningPotential

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

IV-2012, Spain, 5 th June, 2012 Artificial Potential Fields A Primer 7 Source: Tiwari R, Shukla A, Kala R. (2013) Intelligent Planning for Mobile Robotics: Algorithmic Approaches, IGI Global Publishers, doi: /

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

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

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

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

IV-2012, Spain, 5 th June, 2012 RESULTS 12

IV-2012, Spain, 5 th June, 2012 Results

IV-2012, Spain, 5 th June, 2012 Results

IV-2012, Spain, 5 th June, 2012 Parameters 15 Parameters Lateral Sensitivity Longitudinal Sensitivity Mixed Sensitivity Cooperation

IV-2012, Spain, 5 th June, 2012 Analysis -1 16

IV-2012, Spain, 5 th June, 2012 Analysis

IV-2012, Spain, 5 th June, 2012 Analysis

IV-2012, Spain, 5 th June, 2012 Personal Advertisement Obviously Recommended 19

IV-2012, Spain, 5 th June, 2012 THANK YOU Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom British Council 20