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Motion Planning for Multiple Autonomous Vehicles

Motion Planning for Multiple Autonomous Vehicles . Literature Review. Rahul Kala. Organization. Trajectory Planning. Current Intelligent Vehicles algorithms cannot be used as: Lane prone Simple obstacle frameworks Non-cooperative Current Mobile Robotics algorithms cannot be used as:

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Motion Planning for Multiple Autonomous Vehicles

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  1. Motion Planning for Multiple Autonomous Vehicles Literature Review Rahul Kala

  2. Organization

  3. Trajectory Planning Current Intelligent Vehicles algorithms cannot be used as: • Lane prone • Simple obstacle frameworks • Non-cooperative Current Mobile Robotics algorithms cannot be used as: • Narrowly bounded roads • Road structure • Overtaking and Vehicle Following behaviours • Unknown time of emergence

  4. Intelligent Management of the Transportation System Key sub-problems: • Routing • Congestion Avoidance • Start Time Prediction Key modelling differences from the literature • Diversity: Speed based and task based

  5. Intelligent Vehicles

  6. Optimization based Variations • Centralized • Decentralized • Cooperative Co-evolution

  7. RRT and Related

  8. Graph Search, Roadmap and Hierarchical

  9. Reactive Methods • Distance maximization based • Logic set based • Velocity Obstacles • Potential Methods • Fuzzy based

  10. Routing and Congestion Avoidance

  11. Start Time Prediction

  12. Thank You • Acknowledgements: • Commonwealth Scholarship Commission in the United Kingdom • British Council

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