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...
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| Main Author: | |
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| Format: | Electronic Book Chapter |
| Language: | English |
| Published: |
KIT Scientific Publishing
2023
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| Series: | Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
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| Subjects: | |
| Online Access: | DOAB: download the publication DOAB: description of the publication |
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| 245 | 1 | 0 | |a Motion Planning for Autonomous Vehicles in Partially Observable Environments |
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| 506 | 0 | |a Open Access |2 star |f Unrestricted online access | |
| 520 | |a 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. | ||
| 540 | |a Creative Commons |f https://creativecommons.org/licenses/by/4.0/ |2 cc |4 https://creativecommons.org/licenses/by/4.0/ | ||
| 546 | |a English | ||
| 650 | 7 | |a Building construction & materials |2 bicssc | |
| 653 | |a Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung | ||
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| 856 | 4 | 0 | |a www.oapen.org |u https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf |7 0 |z DOAB: download the publication |
| 856 | 4 | 0 | |a www.oapen.org |u https://directory.doabooks.org/handle/20.500.12854/122239 |7 0 |z DOAB: description of the publication |