Optimal Direction-Dependent Path Planning for Autonomous Vehicles

@inproceedings{Shum2014OptimalDP,
  title={Optimal Direction-Dependent Path Planning for Autonomous Vehicles},
  author={Alex Shum},
  year={2014}
}
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-JacobiBellman (HJB) equation is used to determine the optimal path. The Ordered Upwind Method (OUM) has been previously used to numerically approximate the viscosity solution of the static HJB equation for direction-dependent weights. The contributions of this thesis include an analytical bound on the convergence rate of the… CONTINUE READING

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