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Tas, Ömer SahinMotion Planning for Autonomous Vehicles in Partially Observable Environments
Kartoniert, KIT Scientific Publishing (2023)
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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.

Seitenanzahl
224 S.
Sprache
Englisch
Verlag
KIT Scientific Publishing (2023)
Gewicht
430 g
ISBN-13
978-3-7315-1299-8
Titelnr.
96997905
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