Upload
myra
View
21
Download
0
Tags:
Embed Size (px)
DESCRIPTION
Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials. Rahul Kala, Kevin Warwick. - PowerPoint PPT Presentation
Citation preview
IV 2012, Spain rkala.99k.org5th June, 2012
Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral PotentialsRahul 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. 597-602.
IV-2012, Spain, 5th June, 2012 2
Is speed lane traffic best?
Requires a deep thought!
When bad?
• Diverse widths
• Diverse speeds
• Indian traffic!
Disadvantages applicable
here?• Intelligent
Vehicles• Is future
diverse?
• Motorists between lanes?
IV-2012, Spain, 5th June, 2012 3
Problems?
Beyond imaginations
Controls
Vision
LocalizationPlanning
Coordination
IV-2012, Spain, 5th June, 2012 4
What we do?
Height of madness!
Squeeze In Get aside Overtake
Brake Brake Brake
Oops Struck
IV-2012, Spain, 5th June, 2012 5
How we do?
Its ‘not’ like planning a mobile robot
Fuzzy Inference System
Genetic Algorithms
Graph-based solutions
Hierarchical Planning
Potential
IV-2012, Spain, 5th June, 2012 6
LATERAL POTENTIALS
Simple, Elegant, Fast
IV-2012, Spain, 5th June, 2012 7
Artificial Potential Fields
A Primer
Source: Tiwari R, Shukla A, Kala R. (2013) Intelligent Planning for Mobile Robotics: Algorithmic Approaches, IGI Global Publishers, doi: 10.4018/978-1-4666-2074-2.
IV-2012, Spain, 5th June, 2012 8
Planning
Longitudinal
Distance, Speed,
Acceleration measures
Lateral
Lateral Potentials
IV-2012, Spain, 5th June, 2012 9
The basics
and coordinate system of use
IV-2012, Spain, 5th June, 2012 10
Lateral Potentials
How would ‘you’ have done it?
IV-2012, Spain, 5th June, 2012 11
Considerations
• Decision 1: Clockwise or Anti-Clockwise?
• Decision 2: Magnitude?– Time to Collision (any?)– Distance Measure
IV-2012, Spain, 5th June, 2012 12
RESULTS
IV-2012, Spain, 5th June, 2012 13
Results - 1
IV-2012, Spain, 5th June, 2012 14
Results - 2
IV-2012, Spain, 5th June, 2012 15
Parameters
ParametersLateral Sensitivity
Longitudinal Sensitivity
Mixed Sensitivity
Cooperation
IV-2012, Spain, 5th June, 2012 16
Analysis -1
IV-2012, Spain, 5th June, 2012 17
Analysis - 2
IV-2012, Spain, 5th June, 2012 18
Analysis - 3
IV-2012, Spain, 5th June, 2012 19
Personal Advertisement
Obviously Recommended
IV-2012, Spain, 5th June, 2012 20
THANK YOU
Acknowledgements:
• Commonwealth Scholarship Commission in the United Kingdom
• British Council