Motion Planning of Autonomous Vehicles in a Non-Autonomous Vehicle Environment without Speed Lanes,
Motion Planning of Autonomous Vehicles
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Transcript of Motion Planning of Autonomous Vehicles
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.
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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
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Rahul Kala
Vehicle Packing in
RoadsStudent
Packing at 188, Call Centre Lab
14 November 2012
v/s
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Disclaimer
All characters and acronyms used in this presentation are fictitious. Resemblance to any student studying or passed out is purely coincidental
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The Problem
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Image Courtesy: SSE, UoR
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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?
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Objectives
Vehicle Packing
Maximize Separation
Join Vehicle Pool Ahead
Student Packing
Maximize number of desks
Desks with screen ‘hidden’ from door
entry
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The Approach
The rules of the GAME
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Rule 1: Obstacle Avoidance
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Rule 1’: JR Replacement
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Rule 2: Centring
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Rule 2’: CK Expansion
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Rule 3: Lane Change
Would it be OK to turn??
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Rule 3’: S-P-R-E-A-D Meetings
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Would it be OK to change??
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Rule 4: Overtake
Can I fit in??
Side? Place?
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Rule 4: Overtake
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Rule 4’: AM Jump
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Rule 5-7: Single Lane Overtake
Initiation Completion
Cancellation
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Rule 5’-7’: Exits and Returns
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MR Exit
MR Initiation
MA Initiation
MA Return
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Rule 8: Be Overtaken
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Rule 8’: CB Condensation
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Rule 9: Maintain Separation Steer
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Rule 9’: ImH/HS Shift
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Rule 10: Slow Down
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Rule 10’: CjS Retrieval
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Rule 11: Discover Conflicting Interests
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Rule 11’: MS/MS Confusion
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Rule 12: Travel Straight
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Rule 12’: Stay at your place!
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To SummarizeVehicle PackingObstacle
Avoidance
Centring
Lane Change
Overtake
Student Packing
JR Replacement
CK Expansion
S-P-R-E-A-D Meetings
AM Jump
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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
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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
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AND SOME ROBOTICS
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Choicessince one turn at a time is modelled
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Choices
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Choicessince one turn at a time is modelled
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Bounds
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THANK YOU
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