CIS 2011 rkala.99k.

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September, 2011
Planning of Multiple
Autonomous Vehicles using
RRT
Rahul Kala, Kevin Warwick
Publication of paper: R. Kala, K. Warwick (2011) Planning of Multiple Autonomous Vehicles using
RRT, Proceedings of the 10th IEEE International Conference on Cybernetic Intelligent Systems, Docklands, London, pp.
20-25.
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Autonomous Vehicles
Safety
Efficient
Driving
Jam
Avoidance
Coordination
Comfort
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Software Architecture
Sensor
Environment
understanding
Sensor
fusion
Localization Planning
Control
Motion
Map Mission
Environment
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Software Architecture
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Coordination
Vehicle 1
Vehicle 2
Vehicle 3 .
Vehicle n
Inter-Vehicle
Communication
Coordination
Obstacle Discovery
Localization
Collision Avoidance
Travel Plan
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Junior (Stanford) Model
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Planning
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Why not speed lanes?
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Highly diverse
sizes


Excess road
widths with
diverse speeds
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Why not speed lanes?
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Single lanes
Complex obstacle
framework


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Talos (MIT) Model
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Key Takes:
Planner/Controller
integrated
Possibility of multiple
vehicles
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PLANNING ALGORITHM
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Layers of Planning
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Route Planning
Road
Segmentation
Road Segment
Planning
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Overlapping Segment Planning
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Coordinate Axis System
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RRT
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Source and
direction
Goal
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Curve Generation
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Coordination
Principle: Prioritization
Rule: Higher priority for vehicle earlier in
segment
Communication: Trajectory followed
stored as hash maps
Speed reduced in steps of till feasible
plan found
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Results
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RRT Generated
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Vehicle Following
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Overtaking
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Vehicle Avoidance

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Analysis
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Step Size
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Analysis
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Step Size
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Why RRT?
* Assuming high resolution maps, traffic scenario, complex obstacle framework.
Reduction of resolution not possible
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Property Algorithm Order*
Completeness Graph > RRT > Evolutionary > Behavioral
Ability to generate paths
with large number of
obstacles
Graph > Behavioral > RRT > Evolutionary
Path length/ Optimality Evolutionary > Behavioral > RRT > Graph
Computational Cost Behavioral < RRT < Evolutionary < Graph
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Conclusions
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Problem
Planning
multiple
vehicles
Different times
of emergence
Traffic Scenario
Constraints
Computational
Time
Complex
Obstacle
Framework
Solution
RRT
Road Axis
System
Curve
Smoothening
Priority
Open Issues
Optimality
Being un-
struck
Cooperation
Non-
autonomous
vehicles
Uncertainties
Curves
RRT-Connect
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THANK YOU
Acknowledgements:
Commonwealth Scholarship Commission
in the United Kingdom
British Council
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