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

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?

Requires a deep thought!


Problems?

Beyond imaginations 


What we do?

Height of madness!


How we do?

Its ‘not’ like planning a mobile robot


Simple, Elegant, Fast

Lateral Potentials


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

and coordinate system of use


Lateral Potentials

How would ‘you’ have done it?


Considerations

  • Decision 1: Clockwise or Anti-Clockwise?

  • Decision 2: Magnitude?

    • Time to Collision (any?)

    • Distance Measure


Results


Results - 1


Results - 2


Parameters


Analysis -1


Analysis - 2


Analysis - 3


Personal Advertisement

Obviously Recommended


Acknowledgements:

Commonwealth Scholarship Commission in the United Kingdom

British Council

Thank You


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