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

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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?

Requires a deep thought!


Problems

Problems?

Beyond imaginations 


What we do

What we do?

Height of madness!


How we do

How we do?

Its ‘not’ like planning a mobile robot


Lateral potentials

Simple, Elegant, Fast

Lateral Potentials


Artificial potential fields

Artificial Potential Fields

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

and coordinate system of use


Lateral potentials1

Lateral Potentials

How would ‘you’ have done it?


Considerations

Considerations

  • Decision 1: Clockwise or Anti-Clockwise?

  • Decision 2: Magnitude?

    • Time to Collision (any?)

    • Distance Measure


Results

Results


Results 1

Results - 1


Results 2

Results - 2


Parameters

Parameters


Analysis 1

Analysis -1


Analysis 2

Analysis - 2


Analysis 3

Analysis - 3


Personal advertisement

Personal Advertisement

Obviously Recommended


Thank you

Acknowledgements:

Commonwealth Scholarship Commission in the United Kingdom

British Council

Thank You


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