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  • Motion Planning of Autonomous Vehicles in A Non-Autonomous Vehicle Environment Without Speed Lanes

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    Rahul Kala
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    Presentation of the paper R. 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. The thesis website contains links to table of contents, complete text, videos, presentations and other things; available at: http://rkala.in/autonomousvehiclesvideos.html

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    Motion Planning of Autonomous Vehicles in a Non-Autonomous Vehicle Environment without Speed Lanes,

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    Presentation of the paper R. 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. The thesis website contains links to table of contents, complete text, videos, presentations and other things; available at: http://rkala.in/autonomousvehiclesvideos.html

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    Download as PPTX, PDF, TXT or read online from Scribd
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    28 views38 pages

    Motion Planning of Autonomous Vehicles in A Non-Autonomous Vehicle Environment Without Speed Lanes

    Uploaded by

    Rahul Kala
    Presentation of the paper R. 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. The thesis website contains links to table of contents, complete text, videos, presentations and other things; available at: http://rkala.in/autonomousvehiclesvideos.html

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 38

    Motion Planning of Autonomous Vehicles

    Presentation of the paper: Kala, K. Warwick (2013) Motion Planning of Autonomous Vehicles in a NonAutonomous Vehicle Environment without Speed Lanes, Engineering Applications of Artificial Intelligence, 26(5-6): 15881601. 14 November 2012 Post Graduate Seminar rkala.99k.org

    Rahul Kala

    A run through the background


    1. The Problem

    2. The Traffic (Speed Lanes)

    Speed Diversity
    Post Graduate Seminar

    Size Diversity

    Task Diversity

    3. The Transition

    Image Courtesy: railway-technical.com, blogs.abc.net.au/

    Vehicle Packing in Roads

    v/s

    Student Packing at 188, Call Centre Lab

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

    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
    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    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
    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 2: Centring

    Post Graduate Seminar

    Rule 2: CK Expansion
    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    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


    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    Would it be OK to change??

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    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
    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 5-7: Single Lane Overtake

    Initiation

    Completion

    Cancellation
    Post Graduate Seminar

    Rule 5-7: Exits and Returns MR Initiation


    31 27 28 29 30 23 24 25 26 19 20 21 22 15 16 17 18

    MA Initiation
    07 08 06 05

    MR Exit

    12 13 14 09 10 11

    MA Return
    03 04 02 01

    Post Graduate Seminar

    Rule 8: Be Overtaken

    Post Graduate Seminar

    Rule 8: CB Condensation
    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 9: Maintain Separation Steer

    Post Graduate Seminar

    Rule 9: ImH/HS Shift


    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 10: Slow Down

    Post Graduate Seminar

    Rule 10: CjS Retrieval


    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 11: Discover Conflicting Interests

    Post Graduate Seminar

    Rule 11: MS/MS Confusion


    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    Rule 12: Travel Straight

    Post Graduate Seminar

    Rule 12: Stay at your place!


    31 27 28 29 30 23 24 25 26

    19 20 21 22 15 16 17 18

    07 08 06 05

    12 13 14 09 10 11

    03 04 02 01

    Post Graduate Seminar

    To Summarize
    Vehicle Packing
    Obstacle Avoidance
    Centring Lane Change Overtake
    Post Graduate Seminar

    Student Packing
    JR Replacement
    CK Expansion S-P-R-E-A-D Meetings AM Jump

    To Summarize
    Vehicle Packing
    Single Lane Overtake Initiation Single Lane Overtake Completion Single Lane Overtake Cancelation Be Overtaken
    Post Graduate Seminar

    Student Packing
    MR/MA Exit Initiation

    MR Exit

    MA Return

    CB Condensation

    To Summarize
    Vehicle Packing
    Maintain Separation Steer Slow Down Discover Conflicting Interests Travel Straight
    Post Graduate Seminar

    Student Packing
    ImH/HS Shift

    CjS Retrieval

    MS/MS Confusion

    Stay at your place

    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

    Post Graduate Seminar

    37

    THANK YOU
    Image Courtesy: wikimedia.org
    Post Graduate Seminar

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