Motion Planning for Autonomous Vehicles in Partially Observable Environments
(Sprache: Englisch)
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...
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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.
Bibliographische Angaben
- Autor: Ömer Sahin Tas
- 2023, 224 Seiten, mit Abbildungen, Masse: 14,8 x 21 cm, Kartoniert (TB), Englisch
- Verlag: KIT Scientific Publishing
- ISBN-10: 3731512998
- ISBN-13: 9783731512998
Sprache:
Englisch
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