Optimal Direction-Dependent Path Planning for Autonomous Vehicles
The focus of this thesis is optimal path planning. The path planning problem is posed as an optimal control problem, for which the viscosity solution to the static Hamilton-Jacobi-Bellman (HJB) equation is used to determine the optimal path. The Ordered Upwind Method (OUM) has been previously used t...
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| Language: | en |
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2014
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| Online Access: | http://hdl.handle.net/10012/8353 |