Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning
Jianyu Chen,Yutaka Shimizu,Liting Sun,Masayoshi Tomizuka,Wei Zhan,Jianyu Chen,Yutaka Shimizu,Liting Sun,Masayoshi Tomizuka,Wei Zhan
Motion planning under uncertainty is of significant importance for safety-critical systems such as autonomous vehicles. Such systems have to satisfy necessary constraints (e.g., collision avoidance) with potential uncertainties coming from either disturbed system dynamics or noisy sensor measurements. However, existing motion planning methods cannot efficiently find the robust optimal solutions un...
