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Motion Planning of Autonomous Vehicles

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.

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Motion Planning of Autonomous Vehicles

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  1. 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.

  2. 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/

  3. v/s Rahul Kala

  4. Disclaimer All characters and acronyms used in this presentation are fictitious. Resemblance to any student studying or passed out is purely coincidental

  5. The Problem Image Courtesy: SSE, UoR

  6. The ‘Cause’ of the Problem

  7. Objectives

  8. The Approach

  9. Rule 1: Obstacle Avoidance

  10. Rule 1’: JR Replacement

  11. Rule 2: Centring

  12. Rule 2’: CK Expansion

  13. Rule 3: Lane Change Would it be OK to turn??

  14. Rule 3’: S-P-R-E-A-D Meetings Would it be OK to change??

  15. Rule 4: Overtake Can I fit in?? Side? Place?

  16. Rule 4: Overtake

  17. Rule 4’: AM Jump

  18. Rule 5-7: Single Lane Overtake Initiation Completion Cancellation

  19. Rule 5’-7’: Exits and Returns MR Initiation MR Exit MA Initiation MA Return

  20. Rule 8: Be Overtaken

  21. Rule 8’: CB Condensation

  22. Rule 9: Maintain Separation Steer

  23. Rule 9’: ImH/HS Shift

  24. Rule 10: Slow Down

  25. Rule 10’: CjS Retrieval

  26. Rule 11: Discover Conflicting Interests

  27. Rule 11’: MS/MS Confusion

  28. Rule 12: Travel Straight

  29. Rule 12’: Stay at your place!

  30. To Summarize

  31. To Summarize

  32. To Summarize

  33. And Some Robotics

  34. Choices since one turn at a time is modelled

  35. Choices

  36. Choices since one turn at a time is modelled

  37. Bounds 37

  38. Thank You Image Courtesy: wikimedia.org

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