%0 Journal Article
%T Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes
%A Rahul Kala
%A Kevin Warwick
%J Electronics
%P 59-81
%D 2015
%I MDPI AG
%R 10.3390/electronics4010059
%X The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the ˇ°wrongˇ± side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the ˇ°wrongˇ± side of the road and safely going to and returning from the ˇ°wrongˇ± side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.
%K autonomous vehicles
%K overtaking
%K intelligent transportation systems
%K navigation
%K planning
%K reactive planning
%U http://www.mdpi.com/2079-9292/4/1/59