using Lateral Potentials

bankpottstownAI and Robotics

Oct 23, 2013 (3 years and 11 months ago)

87 views

IV 2012, Spain

rkala.99k.org

5
th

June, 2012

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

Rahul

Kala, Kevin Warwick

IV
-
2012, Spain, 5
th

June, 2012

Is speed lane traffic best?

Requires a deep thought!

2

When bad?


Diverse widths



Diverse speeds




Indian traffic!

Disadvantages
applicable here?


Intelligent
Vehicles


Is future
diverse?



Motorists
between lanes?

IV
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Problems?

Beyond imaginations


3

Controls

Vision

Localization

Planning

Coordination

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What we do?

Height of madness!

4

Squeeze In

Get aside

Overtake

Brake
Brake

Brake

Oops Struck

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How we do?

Its ‘not’ like planning a mobile robot

5

Fuzzy Inference System

Genetic Algorithms

Graph
-
based solutions

Hierarchical Planning

Potential

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LATERAL POTENTIALS

Simple, Elegant, Fast

6

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Artificial Potential Fields

A Primer

7

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.

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8

Planning

Longitudinal

Distance,
Speed,
Acceleration
measures

Lateral

Lateral
Potentials

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The basics

and coordinate system of use

9

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Lateral Potentials

How would ‘you’ have done it?

10

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Considerations


Decision 1: Clockwise or Anti
-
Clockwise?



Decision 2: Magnitude?


Time to Collision (any?)


Distance Measure


11

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RESULTS

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Results
-

1

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Results
-

2

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Parameters

15

Parameters

Lateral
Sensitivity

Longitudinal
Sensitivity

Mixed
Sensitivity

Cooperation

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Analysis
-
1

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Analysis
-

2

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Analysis
-

3

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Personal Advertisement

Obviously Recommended

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THANK YOU

Acknowledgements:


Commonwealth Scholarship Commission
in the United Kingdom


British Council

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