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oapen-20.500.12657-77094
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dspace
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oapen-20.500.12657-770942024-02-02T15:42:39Z Motion Planning for Autonomous Vehicles in Partially Observable Environments Taş, Ömer Şahin Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung bic Book Industry Communication::T Technology, engineering, agriculture::TN Civil engineering, surveying & building::TNK Building construction & materials 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. 2023-10-31T13:48:53Z 2023-10-31T13:48:53Z 2023 book https://library.oapen.org/handle/20.500.12657/77094 eng Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie application/pdf Attribution 4.0 International motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://doi.org/10.5445/KSP/1000158509 KIT Scientific Publishing 10.5445/KSP/1000158509 10.5445/KSP/1000158509 44e29711-8d53-496b-85cc-3d10c9469be9 48 222 open access
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| institution |
OAPEN
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DSpace
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| language |
English
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| description |
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.
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| title |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| spellingShingle |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| title_short |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| title_full |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| title_fullStr |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| title_full_unstemmed |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| title_sort |
motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf
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| publisher |
KIT Scientific Publishing
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| publishDate |
2023
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| url |
https://doi.org/10.5445/KSP/1000158509
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| _version_ |
1799945293541670912
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