Motion Planning for Autonomous Vehicles in Partially Observable Environments

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.

Product details

• Authors: Ömer ¿ahin Ta¿, Ömer Sahin Tas
• Publisher: KIT Scientific Publishing
• Languages: English
• Product format: Paperback / Softback
• Released: 23.10.2023
• EAN: 9783731512998
• ISBN: 978-3-7315-1299-8
• No. of pages: 224
• Dimensions: 148 mm x 13 mm x 210 mm
• Weight: 430 g
• Illustrations: graph. Darst.
• Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
• Subject: Natural sciences, medicine, IT, technology > Technology > Miscellaneous