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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ISBN | 9783731512998 |
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Sprache | eng |
Cover | Kartonierter Einband (Kt) |
Verlag | Karlsruher Institut für Technologie |
Jahr | 20231023 |
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