Motion Planning for Autonomous Vehicles in Partially Observable Environments
This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in...
Kaydedildi:
| Yazar: | |
|---|---|
| Materyal Türü: | Elektronik Kitap Bölümü |
| Dil: | İngilizce |
| Baskı/Yayın Bilgisi: |
KIT Scientific Publishing
2023
|
| Seri Bilgileri: | Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
|
| Konular: | |
| Online Erişim: | DOAB: download the publication DOAB: description of the publication |
| Etiketler: |
Etiketle
Etiket eklenmemiş, İlk siz ekleyin!
|
| Özet: | This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling. |
|---|---|
| Fiziksel Özellikler: | 1 electronic resource (222 p.) |
| ISBN: | KSP/1000158509 |
| Erişim: | Open Access |