Motion Planning for Multiple Autonomous Vehicles in Futuristic Transportation System
Achieve efficient motion planning for multiple autonomous vehicles in a futuristic transportation system through advanced algorithms such as Genetic Algorithms, RRT, Graph Search, and Fuzzy Logic. Address challenges like static obstacles, lane changes, traffic lights, and dynamic traffic management. Explore intelligent management strategies to optimize routing, reservations, and lane changes for a seamless, cooperative vehicle system.
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Presentation Transcript
Motion Planning for Multiple Autonomous Vehicles Into an automated, cooperative, diverse and integrated futuristic transportation system Rahul Kala IIIT Allahabad 10th October, 2014 Best PhD Award Presentation at ITSC, 2014
Problem Solving in Mobile Robotics Unorganized Organized Image Courtesy: railway-technical.com, blogs.abc.net.au IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
Trajectory Generation Static Obstacles B A C a Select the best plan: (a) A overtakes B from right, B drifts left, A crosses the obstacles, C waits, (b) A follows B and both cross the obstacles while C waits, (c) B crosses the obstacles followed by C and A, (d) C crosses the obstacle a from its left, while A follows B to cross the others IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
Trajectory Generation Genetic Algorithms Sampling Based RRT RRT -Connect Multi-Level Planning Graph Search Based Dynamic Distributed Lanes Algorithms Fuzzy Logic Reactive Lateral Potential Elastic Strip Near-Reactive Logic Based Planning IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
Intelligent Management of the Transportation System Routing objective/ considerations Reservations Routing frequency Entirely semi- autonomous, mixed, manual Recurrent or non- recurrent Lane change Traffic Lights IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
Intelligent Management of the Transportation System Experiment new traffic behaviours Traffic light, Dynamic Speed Lanes Lane Booking, Road Booking Density Regularization, Blockages, Re-routing Dynamic Traffic Management Non-recurrent traffic City based scenario Short frequent re-planning Single lane overtakes Density and Traffic Light avoidance Congestion Avoidance Reaching Destination before Deadline Recurrent Traffic Route and Start Time Determination Maximize probability of reaching on time and minimize wait time Cooperative traffic lights and lane changes IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
The Thesis Videos Website Key Presentations Contributions Graphical Abstract IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
Acknowledgements Prof. Kevin Warwick Indian Institute of Information Technology, Allahabad IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
IIIT Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in
