Motion Planning for Autonomous Vehicles in Partially Observable Environments

• Tác giả: Ömer Şahin Taş
• Ngôn ngữ: eng
• ISBN: KSP/1000158509
• Thông tin xuất bản: KIT Scientific Publishing 2023
• Mô tả vật lý: 1 electronic resource (222 p.)
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 375386
• Chủ đề: 1. Robotics; 2. Planning under Uncertainty; 3. Decision Making; 4. Information Gathering; 5. Motion Planning; 6. Robotik; 7. Automatisiertes Fahren; 8. Planung unter Unsicherheiten; 9. Entscheidungsfindung; 10. Bewegungsplanung; 11. Building construction & materials

Tóm tắt

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.