Motion Planning for Multiple

Autonomous Vehicles

Genetic
Algorithm

Presentation of the paper: R. Kala, K. Warwick (2014)

Heuristic based evolution for the coordination of
autonomous vehicles in the absence of speed lanes,
Applied Soft Computing, 19: 387402.
April, 2013

School of Systems, Engineering, University of

Rahul
Kala
rkala.99k.org

Key Contributions
The design of a GA which gives results within low
computational times for traffic scenarios.
Employment of the developed GA for constant path
adaptation to overcome actuation uncertainties. The GA
assesses the current scenario and takes the best
measures for rapid trajectory generation.
The use of traffic rules as heuristics to coordinate
between vehicles.
The use of heuristics for constant adaptation of the plan
to favour overtaking, once initiated, but to cancel it
whenever infeasible.
The approach is tested for a number of diverse
behaviours including obstacle avoidance, blockage,
overtaking and vehicle following.
Motion Planning for Multiple Autonomous Vehicles

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Why GA?
Optimality
Probabilistic Completeness
Iterative
Concerns
Computational Cost
Cooperative Coordination

Motion Planning for Multiple Autonomous Vehicles

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Key Concepts
Use Road Coordinate Axis system
Optimize as the vehicle moves:
Tune plan
Overcome uncertainties
Compute feasibility of overtake

Integration with route planning

Next road/segment becomes the goal as the vehicle is
about to complete the previous

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Map

For each vehicle entered in scenario

and not reached goal

Overall Algorithm

Planning by Dijkstras Algorithm if

coarser path is not built
Finer Planning by
Bezier Curves

Database of all
Vehicle Trajectories

Blockage?
Yes

Genetic Algorithm
Optimization

No
Operational
Mode

Path Following

Overtaking

Vehicle
Following

Steering and Speed

Control

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GA Optimization

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Individual Representation
Genotype

Y
Mapping

Control points

Source

Directional maintenance
points
Phenotype

Goal
Trajectory

The genotype (optimized by GA) stores all control points of the spline curve
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Genetic Operators

Repair
Insert
Crossov
er
Mutation

Sorts points in X axis (vehicle always drives

forward)
Deletes points behind the crossed position
Deletes excess control points till trajectory gets
better

Add random individuals

For variable length chromosome

Randomly deviate points

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Fitness Function
Contributors
Length
Length of trajectory in without safety distance
Length in infeasible region

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Checking Granularity
Points of checking

Finer at start

Trajectory

Coarser at the end

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Coordination
Priority based coordination
Only vehicles ahead considered
Cooperation added by traffic heuristics
Overtake
Vehicle Following

Vehicle can request another vehicle to

Slow down
Turn right/left

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Determination of speed
Alternating
optimization of path
and speed

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Traffic Heuristics
Two heuristics used: Overtaking and Vehicle
Following
Imparts cooperation to an else non-cooperative
coordination

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Traffic Heuristics

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Overtaking
Move Left

Move Left

R2

R3

R1

Move Left

Move Left

R2

R3

R1

R2

R2
R1

R3

R2

R1

R2
R1

R3

Motion Planning for Multiple Autonomous Vehicles

R3

R1
R3

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Overtaking
Too close,
R3 slows

Too close,
R2 slows
R2

R2
R1

R3

R1

R3

Not possible,
abandon
R2
R1

R2
R3

Motion Planning for Multiple Autonomous Vehicles

R1

Not
possible,
abandon
R3

rkala.99k.org

Vehicle Following
R1

R2

Move Left

Move Left
R2

R3

R3

Move Left

Infeasible,
slow down

R1

Feasible,
speed up

R2

R1

R3

Infeasible,
slow down

R1

R2
R3

R2

Move Left
R3
R1

R1

R2

R3

Motion Planning for Multiple Autonomous Vehicles

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Results

Vehicle position at the

time of blockage

Blockage

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Results - 2 vehicle

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Results - Overtaking

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Results Vehicle
Following

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Analysis
950
900
Distance

850
800
750
Speed

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Analysis
160
140
120
100
80
Time
60
40
20
0
Speed

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Analysis
900
898
896
894
Distance 892
890
888
886
884

7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
Number of Individuals

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Analysis
160
140
120

Road Coordinate Axis

System
Cartesian Coordinate
Axis System

100
Minimum Individuals for Feasible Solution

80
60
40
20
0

0 1 2 3 4 5 6 7 8
Number of Obstacles

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 Acknowledgements:
Commonwealth Scholarship
Commission in the United Kingdom
British Council

Thank You
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