motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes,
TRANSCRIPT
Post Graduate Seminar rkala.99k.org14 November 2012
Motion Planning of Autonomous VehiclesRahul 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.
Post Graduate Seminar
A run through the background1. The Problem
2. The Traffic(Speed Lanes)
3. The Transition
Image Courtesy: railway-technical.com, blogs.abc.net.au/
Task Diversity
Size Diversity
Speed Diversity
Post Graduate Seminar rkala.99k.org
Rahul Kala
Vehicle Packing in
RoadsStudent
Packing at 188, Call Centre Lab
14 November 2012
v/s
Post Graduate Seminar
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
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Image Courtesy: SSE, UoR
Post Graduate Seminar
The ‘Cause’ of the Problem
Vehicle PackingMinimum
road width
Maximum road width
0.25, 0.5, 1 (lanes), entire road?
Student PackingMinimum
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
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 2: Centring
Post Graduate Seminar
Rule 2’: CK Expansion
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
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
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Would it be OK to change??
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
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 5-7: Single Lane Overtake
Initiation Completion
Cancellation
Post Graduate Seminar
Rule 5’-7’: Exits and Returns
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
MR Exit
MR Initiation
MA Initiation
MA Return
Post Graduate Seminar
Rule 8: Be Overtaken
Post Graduate Seminar
Rule 8’: CB Condensation
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 9: Maintain Separation Steer
Post Graduate Seminar
Rule 9’: ImH/HS Shift
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 10: Slow Down
Post Graduate Seminar
Rule 10’: CjS Retrieval
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 11: Discover Conflicting Interests
Post Graduate Seminar
Rule 11’: MS/MS Confusion
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
Rule 12: Travel Straight
Post Graduate Seminar
Rule 12’: Stay at your place!
02 01
03 04
06 05
07 08
10 11
13 14
17 18
21 22
15 16
19 20
25 26
29 30
23 24
27 2831
09
12
Post Graduate Seminar
To SummarizeVehicle PackingObstacle
Avoidance
Centring
Lane Change
Overtake
Student Packing
JR Replacement
CK Expansion
S-P-R-E-A-D Meetings
AM Jump
Post Graduate Seminar
To SummarizeVehicle PackingSingle Lane
Overtake InitiationSingle Lane Overtake
CompletionSingle Lane Overtake
Cancelation
Be Overtaken
Student PackingMR/MA Exit Initiation
MR Exit
MA Return
CB Condensation
Post Graduate Seminar
To SummarizeVehicle Packing
Maintain Separation Steer
Slow Down
Discover Conflicting Interests
Travel Straight
Student Packing
ImH/HS Shift
CjS Retrieval
MS/MS Confusion
Stay at your place
Post Graduate Seminar
AND SOME ROBOTICS
Post Graduate Seminar
Choicessince one turn at a time is modelled
Post Graduate Seminar
Choices
Post Graduate Seminar
Choicessince one turn at a time is modelled
Post Graduate Seminar
Bounds
37
Post Graduate Seminar
THANK YOU
Image Courtesy: wikimedia.org