Planning autonomous vehicles in the absence of speed lanes using lateral potentials
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Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials. Rahul Kala, Kevin Warwick.

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Planning autonomous vehicles in the absence of speed lanes using lateral potentials

Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials

Rahul 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.


Is speed lane traffic best
Is speed lane traffic best? using Lateral Potentials

Requires a deep thought!


Problems
Problems? using Lateral Potentials

Beyond imaginations 


What we do
What we do? using Lateral Potentials

Height of madness!


How we do
How we do? using Lateral Potentials

Its ‘not’ like planning a mobile robot


Lateral potentials

Simple, Elegant, Fast using Lateral Potentials

Lateral Potentials


Artificial potential fields
Artificial Potential Fields using Lateral Potentials

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.


The basics
The basics using Lateral Potentials

and coordinate system of use


Lateral potentials1
Lateral Potentials using Lateral Potentials

How would ‘you’ have done it?


Considerations
Considerations using Lateral Potentials

  • Decision 1: Clockwise or Anti-Clockwise?

  • Decision 2: Magnitude?

    • Time to Collision (any?)

    • Distance Measure


Results
Results using Lateral Potentials


Results 1
Results - 1 using Lateral Potentials


Results 2
Results - 2 using Lateral Potentials


Parameters
Parameters using Lateral Potentials


Analysis 1
Analysis -1 using Lateral Potentials


Analysis 2
Analysis - 2 using Lateral Potentials


Analysis 3
Analysis - 3 using Lateral Potentials


Personal advertisement
Personal Advertisement using Lateral Potentials

Obviously Recommended


Thank you

Acknowledgements: using Lateral Potentials

Commonwealth Scholarship Commission in the United Kingdom

British Council

Thank You


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