ROBOTICS AND ARTIFICIAL INTELLIGENCE LABORATORY

INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

ALLAHABAD

Motion Planning for Multiple

Autonomous Vehicles
Into an automated, cooperative, diverse and integrated futuristic
transportation system

Rahul Kala
IIIT
Allahabad

Best PhD Award Presentation at

ITSC, 2014

10th October, 2014

Problem Solving in Mobile Robotics

Unorganized

Organized

Image Courtesy: railway-technical.com, blogs.abc.net.a

IIIT
Allahabad

Motion Planning for Multiple Autonomous

Vehicles

rkala.in

Trajectory Generation
Static Obstacles

B
C

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
Genetic Algorithms
Algorithms
Sampling
Sampling
Based
Based

RRT
RRT
RRT-Connect
RRT-Connect

Graph
Graph Search
Search
Based
Based
Algorithms
Algorithms

Multi-Level
Multi-Level Planning
Planning
Dynamic
Dynamic Distributed
Distributed
Lanes
Lanes
Fuzzy
Fuzzy Logic
Logic

Reactive
Reactive
Lateral
Lateral Potential
Potential
Elastic
Elastic Strip
Strip
Near-Reactive
Near-Reactive
Logic
Logic Based
Based Planning
Planning
IIIT
Allahabad

Motion Planning for Multiple Autonomous

Vehicles

rkala.in

Intelligent Management of the Transportation

System
Routing
objective/
considerations
Routing
frequency

Reservations

Entirely semiautonomous,
mixed, manual

Recurrent or nonrecurrent

Lane change
IIIT
Allahabad

Traffic Lights

Motion Planning for Multiple Autonomous

Vehicles

rkala.in

Intelligent Management of the Transportation

System

Dynamic
Traffic
Managemen
t
Congestion
Avoidance
Reaching
Destination
before
Deadline
IIIT
Allahabad

Experiment new traffic behaviours

Traffic light, Dynamic Speed Lanes
Lane Booking, Road Booking
Density Regularization, Blockages, Re-routing

Non-recurrent traffic
City based scenario
Short frequent re-planning
Single lane overtakes
Density and Traffic Light avoidance

Recurrent Traffic
Route and Start Time Determination
Maximize probability of reaching on time and
minimize wait time
Cooperative traffic lights and lane changes

Motion Planning for Multiple Autonomous

Vehicles

rkala.in

The Thesis

Videos
Graphical
Key
Presentations
Contributions
Website
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

Thank You

IIIT
Allahabad

Motion Planning for Multiple Autonomous

Vehicles

rkala.in