Motion Planning for Autonomous Vehicles in Partially Observable Environments

• প্রধান লেখক: Taş, Ömer Şahin (auth)
• বিন্যাস: বৈদ্যুতিক গ্রন্থের অধ্যায়
• ভাষা: ইংরেজি
• প্রকাশিত: KIT Scientific Publishing 2023
• মালা: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie 48
• বিষয়গুলি: Building construction & materials; Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung
• অনলাইন ব্যবহার করুন: OAPEN Library: download the publication; OAPEN Library: description of the publication

সংক্ষিপ্ত

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.

দৈহিক বর্ননা

1 electronic resource (222 p.)

আইসবিএন

KSP/1000158509

প্রবেশাধিকার

Open Access