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https://hdl.handle.net/1889/3594
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DC Field | Value | Language |
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dc.contributor.advisor | Consolini, Luca | - |
dc.contributor.author | Micelli, Piero | - |
dc.date.accessioned | 2018-05-07T13:17:13Z | - |
dc.date.available | 2018-05-07T13:17:13Z | - |
dc.date.issued | 2018-03-02 | - |
dc.identifier.uri | http://hdl.handle.net/1889/3594 | - |
dc.description.abstract | This thesis presents a deterministic approach for path planning of road vehicles, operating in a known environment in the presence of static obstacles. The path planning problem is addressed using two different methods: Dynamic Programming and Search-based Planning. The first method, based on the numerical solution of the Hamilton-Jacobi-Bellman equation, allows finding an optimal solution at the expense of a high computational cost. Search-based Planning converts the path planning problem into a minimum path problem on a graph, and allows finding a solution to a planning task rather quickly, even for large and high-dimensional operating spaces. In this thesis, Dynamic Programming is first used to find an optimal solution for a small operating space. In particular, this approach is employed to perform a parking maneuver for a car-like vehicle. Then, Dynamic Programming and Search-based Planning are combined together in the algorithm FOCS (Fusion of Optimal Control and Search). This algorithm allows finding a path exploiting the advantages of both approaches while providing a bound on the sub-optimality of its solution. The thesis analyzes the algorithm FOCS and illustrates its effectiveness in finding a minimum-time path for a car-like vehicle in different environments. | it |
dc.language.iso | Inglese | it |
dc.publisher | Università di Parma, Dipartimento di Ingegneria ed Architettura | it |
dc.relation.ispartofseries | Dottorato di ricerca in Tecnologie dell'informazione | it |
dc.rights | © Piero Micelli, 2018 | it |
dc.subject | Path Planning | it |
dc.subject | Dynamic Programming | it |
dc.subject | Search-based Planning | it |
dc.subject | Autonomous Parking | it |
dc.title | Path planning for road vehicles by dynamic programming | it |
dc.type | Doctoral thesis | it |
dc.subject.miur | ING/INF04 | it |
Appears in Collections: | Tecnologie dell'informazione. Tesi di dottorato |
Files in This Item:
File | Description | Size | Format | |
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RelazioneFinaleMicelli.pdf Until 2100-01-01 | Relazione Finale di Micelli Piero | 55.15 kB | Adobe PDF | View/Open Request a copy |
TesiDottoratoMicelli.pdf | Tesi Dottorato di Micelli Piero | 1.1 MB | Adobe PDF | View/Open |
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