Download presentation
Presentation is loading. Please wait.
1
Post Graduate Seminar rkala.99k.org 14 November 2012 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
Post Graduate Seminar 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/ Task DiversitySize DiversitySpeed Diversity
3
Post Graduate Seminar rkala.99k.org Rahul Kala Vehicle Packing in Roads Student Packing at 188, Call Centre Lab 14 November 2012 v/s
4
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
5
Post Graduate Seminar The Problem Image Courtesy: SSE, UoR
6
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?
7
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
8
Post Graduate Seminar The Approach The rules of the GAME
9
Post Graduate Seminar Rule 1: Obstacle Avoidance
10
Post Graduate Seminar Rule 1’: JR Replacement
11
Post Graduate Seminar Rule 2: Centring
12
Post Graduate Seminar Rule 2’: CK Expansion
13
Post Graduate Seminar Rule 3: Lane Change Would it be OK to turn??
14
Post Graduate Seminar Rule 3’: S-P-R-E-A-D Meetings Would it be OK to change??
15
Post Graduate Seminar Rule 4: Overtake Can I fit in?? Side? Place?
16
Post Graduate Seminar Rule 4: Overtake
17
Post Graduate Seminar Rule 4’: AM Jump
18
Post Graduate Seminar Rule 5-7: Single Lane Overtake InitiationCompletion Cancellation
19
Post Graduate Seminar Rule 5’-7’: Exits and Returns MR Exit MR Initiation MA Initiation MA Return
20
Post Graduate Seminar Rule 8: Be Overtaken
21
Post Graduate Seminar Rule 8’: CB Condensation
22
Post Graduate Seminar Rule 9: Maintain Separation Steer
23
Post Graduate Seminar Rule 9’: ImH/HS Shift
24
Post Graduate Seminar Rule 10: Slow Down
25
Post Graduate Seminar Rule 10’: CjS Retrieval
26
Post Graduate Seminar Rule 11: Discover Conflicting Interests
27
Post Graduate Seminar Rule 11’: MS/MS Confusion
28
Post Graduate Seminar Rule 12: Travel Straight
29
Post Graduate Seminar Rule 12’: Stay at your place!
30
Post Graduate Seminar To Summarize Vehicle Packing Obstacle AvoidanceCentringLane ChangeOvertake Student Packing JR ReplacementCK ExpansionS-P-R-E-A-D MeetingsAM Jump
31
Post Graduate Seminar To Summarize Vehicle Packing Single Lane Overtake Initiation Single Lane Overtake Completion Single Lane Overtake Cancelation Be Overtaken Student Packing MR/MA Exit InitiationMR ExitMA ReturnCB Condensation
32
Post Graduate Seminar To Summarize Vehicle Packing Maintain Separation Steer Slow Down Discover Conflicting Interests Travel Straight Student Packing ImH/HS ShiftCjS RetrievalMS/MS ConfusionStay at your place
33
Post Graduate Seminar AND SOME ROBOTICS
34
Post Graduate Seminar Choices since one turn at a time is modelled
35
Post Graduate Seminar Choices
36
Post Graduate Seminar Choices since one turn at a time is modelled
37
Post Graduate Seminar Bounds 37
38
Post Graduate Seminar THANK YOU Image Courtesy: wikimedia.org
Similar presentations
