1. School of Systems, Engineering, University of Reading rkala.99k.org April, 2013 Motion Planning for Multiple Autonomous Vehicles Rahul Kala Genetic Algorithm Presentation of the paper: R. Kala, K. Warwick (2014) Heuristic based evolution for the coordination of autonomous vehicles in the absence of speed lanes, Applied Soft Computing, 19: 387–402.

2. Motion Planning for Multiple Autonomous Vehicles Key Contributions The design of a GA which gives results within low computational times for traffic scenarios. Employment of the developed GA for constant path adaptation to overcome actuation uncertainties. The GA assesses the current scenario and takes the best measures for rapid trajectory generation. The use of traffic rules as heuristics to coordinate between vehicles. The use of heuristics for constant adaptation of the plan to favour overtaking, once initiated, but to cancel it whenever infeasible. The approach is tested for a number of diverse behaviours including obstacle avoidance, blockage, overtaking and vehicle following. rkala.99k.org

3. Motion Planning for Multiple Autonomous Vehicles Why GA? Optimality Probabilistic Completeness Iterative Concerns Computational Cost Cooperative Coordination rkala.99k.org

4. Motion Planning for Multiple Autonomous Vehicles Key Concepts Use Road Coordinate Axis system Optimize as the vehicle moves: – Tune plan – Overcome uncertainties – Compute feasibility of overtake Integration with route planning – Next road/segment becomes the goal as the vehicle is about to complete the previous rkala.99k.org

5. Motion Planning for Multiple Autonomous Vehicles Overall Algorithm rkala.99k.org Planning by Dijkstra’s Algorithm if coarser path is not built Map For each vehicle entered in scenario and not reached goal Finer Planning by Bezier Curves Genetic Algorithm Optimization Blockage? Yes Database of all Vehicle Trajectories Steering and Speed Control Operational Mode No Path Following Overtaking Vehicle Following

6. Motion Planning for Multiple Autonomous Vehicles GA Optimization rkala.99k.org

7. Motion Planning for Multiple Autonomous Vehicles Individual Representation rkala.99k.org Y’ Genotype Phenotype The genotype (optimized by GA) stores all control points of the spline curve Directional maintenance points Control points Goal Source Trajectory Mapping X’Y’

8. Motion Planning for Multiple Autonomous Vehicles Genetic Operators rkala.99k.org Sorts points in X’ axis (vehicle always drives forward) Deletes points behind the crossed position Deletes excess control points till trajectory gets better Repair Add random individuals Insert For variable length chromosome Crossover Randomly deviate points Mutation

9. Motion Planning for Multiple Autonomous Vehicles Fitness Function Contributors Length Length of trajectory in without safety distance Length in infeasible region rkala.99k.org

10. Motion Planning for Multiple Autonomous Vehicles Checking Granularity rkala.99k.org Trajectory Points of checking Finer at start Coarser at the end

11. Motion Planning for Multiple Autonomous Vehicles Coordination Priority based coordination Only vehicles ahead considered Cooperation added by traffic heuristics – Overtake – Vehicle Following Vehicle can request another vehicle to – Slow down – Turn right/left rkala.99k.org

12. Motion Planning for Multiple Autonomous Vehicles Determination of speed rkala.99k.org Path Optimization: GA Speed Optimization Increase by δ if feasible Decrease by δ if infeasible Genetic Algorithm Alternating optimization of path and speed

13. Motion Planning for Multiple Autonomous Vehicles Traffic Heuristics Two heuristics used: Overtaking and Vehicle Following Imparts cooperation to an else non-cooperative coordination rkala.99k.org

14. Motion Planning for Multiple Autonomous Vehicles Traffic Heuristics rkala.99k.org Assess Situation Overtaking Give initial turns to the other vehicles to best overtake Alter speeds of the other vehicles to best overtake Cancel overtake if it seems dangerous Vehicle Following Give initial turns to the other vehicles to best overtake Alter speeds of the other vehicles to best overtake Initiate overtake if it seems possible

15. Motion Planning for Multiple Autonomous Vehicles Overtaking rkala.99k.org R1R1 R2R2 Move Left R3R3 R1R1 R2R2 R3R3 R1R1 R2R2 R3R3 R1R1 R2R2 R3R3 R1R1 R2R2 R3R3 R1R1 R2R2 R3R3

16. Motion Planning for Multiple Autonomous Vehicles Overtaking rkala.99k.org R1R1 R2R2 R3R3 Too close, R 2 slows R1R1 R2R2 R3R3 Too close, R 3 slows R1R1 R2R2 R3R3 Not possible, abandon R1R1 R2R2 R3R3

17. Motion Planning for Multiple Autonomous Vehicles Vehicle Following rkala.99k.org R1R1 R2R2 R3R3 Move Left R1R1 R2R2 R3R3 Infeasible, slow down R1R1 R2R2 R3R3 R1R1 R2R2 R3R3 Feasible, speed up R1R1 R2R2 R3R3 R1R1 R2R2 R3R3

18. Motion Planning for Multiple Autonomous Vehicles Results rkala.99k.org Vehicle position at the time of blockage Blockage

19. Motion Planning for Multiple Autonomous Vehicles Results - 2 vehicle rkala.99k.org b

20. Motion Planning for Multiple Autonomous Vehicles Results - Overtaking rkala.99k.org

21. Motion Planning for Multiple Autonomous Vehicles Results – Vehicle Following rkala.99k.org

22. Motion Planning for Multiple Autonomous Vehicles Analysis rkala.99k.org

23. Motion Planning for Multiple Autonomous Vehicles Analysis rkala.99k.org

24. Motion Planning for Multiple Autonomous Vehicles Analysis rkala.99k.org

25. Motion Planning for Multiple Autonomous Vehicles Analysis rkala.99k.org

26. Motion Planning for Multiple Autonomous Vehiclesrkala.99k.org Thank You Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom British Council