EAN: 9783731512998

MOTION PLANNING FOR AUTONOMOUS VEHICLES IN PART...

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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