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...
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| Fformat: | Online |
| Iaith: | Saesneg |
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KIT Scientific Publishing
2023
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| Pynciau: | |
| Mynediad Ar-lein: | OCN: 1410104286 |
| Tagiau: |
Dim Tagiau, Byddwch y cyntaf i dagio'r cofnod hwn!
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| _version_ | 1869519797145829376 |
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| author | Taş, Ömer Şahin |
| author_browse | Taş, Ömer Şahin |
| author_facet | Taş, Ömer Şahin |
| author_sort | Taş, Ömer Şahin |
| collection | Directory of Open Access Books |
| 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. |
| format | Online |
| id | doab-20.500.12854ir-122239 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | KIT Scientific Publishing |
| publisherStr | KIT Scientific Publishing |
| record_format | ojs |
| spelling | doab-20.500.12854ir-1222392025-05-27T07:44:57Z 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 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. 2023-11-17T09:48:36Z 2023-11-17T09:48:36Z 2023-10-31T13:48:53Z 2023 book OCN: 1410104286 https://library.oapen.org/handle/20.500.12657/77094 9783731512998 https://directory.doabooks.org/handle/20.500.12854/122239 eng Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie open access image/jpeg image/jpeg image/jpeg image/jpeg image/jpeg image/jpeg Attribution 4.0 International Attribution 4.0 International Attribution 4.0 International Attribution 4.0 International Attribution 4.0 International Attribution 4.0 International https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf https://library.oapen.org/bitstream/20.500.12657/77094/1/motion-planning-for-autonomous-vehicles-in-partially-observable-environments.pdf KIT Scientific Publishing 10.5445/KSP/1000158509 10.5445/KSP/1000158509 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 9783731512998 AG Universitätsverlage 222 open access |
| spellingShingle | Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung Taş, Ömer Şahin Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title | Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title_full | Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title_fullStr | Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title_full_unstemmed | Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title_short | Motion Planning for Autonomous Vehicles in Partially Observable Environments |
| title_sort | motion planning for autonomous vehicles in partially observable environments |
| topic | Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung |
| topic_facet | Robotics; Planning under Uncertainty; Decision Making; Information Gathering; Motion Planning; Robotik; Automatisiertes Fahren; Planung unter Unsicherheiten; Entscheidungsfindung; Bewegungsplanung |
| url | OCN: 1410104286 |
| work_keys_str_mv | AT tasomersahin motionplanningforautonomousvehiclesinpartiallyobservableenvironments |