不確実な組合せ的操縦における決定先送り型動作計画
Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering
都市走行の組合せ的操縦選択において予測の不確実性を考慮し、不確実性が高い場合には計画ホライズン内で決定を先送りすることで、安全かつ過度に保守的でない動作を計画する手法を提案した。
著者: Ömer Şahin Taş, Felix Hauser, Christoph Stiller
分類: cs.RO
原文アブストラクト
Motion planning involves decision making among combinatorial maneuver variants in urban driving. A planner must consider uncertainties and associated risks of the maneuver variants, and subsequently select a maneuver alternative. In this paper we present a planning approach that considers the uncertainties in the prediction and, in case of high uncertainty, postpones the combinatorial decision making to a later time within the planning horizon. With our proposed approach, safe but at the same time not overconservative motion is planned.
