A Framework for Optimal Navigation in Situations of Localization Uncertainty
Charifou Orou Mousse,
Mohamed Benrabah,
François Marmoiton
et al.
Abstract:The basic functions of an autonomous vehicle typically involve navigating from one point to another in the world by following a reference path and analyzing the traversability along this path to avoid potential obstacles. What happens when the vehicle is subject to uncertainties in its localization? All its capabilities, whether path following or obstacle avoidance, are affected by this uncertainty, and stopping the vehicle becomes the safest solution. In this work, we propose a framework that optimally combin… Show more
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