Occlusion-Aware Path Planning to Promote Infrared Positioning Accuracy for Autonomous Driving in a Warehouse
Bibliographic record
Abstract
Infrared positioning is a critical module in an indoor autonomous vehicle platform. In an infrared positioning system, the ego vehicle is equipped with an infrared emitter while the infrared receivers are fixed onto the ceiling. The infrared positioning result is accurate only when the number of valid infrared receivers is more than three. An infrared receiver easily becomes invalid if it does not receive light from the infrared emitter due to indoor occlusions. This study proposes an occlusion-aware path planner that enables an autonomous vehicle to navigate toward the occlusion-free part of the drivable area. The planner consists of four layers. In layer one, a homotopic A* path is searched for in the 2D grid map to roughly connect the initial and goal points. In layer two, a curvature-continuous reference line is planned close to the A* path using numerical optimal control. In layer three, a Frenet frame is constructed along the reference line, followed by a search for an occlusion-aware path within that frame via dynamic programming. In layer four, a curvature-continuous path is optimized via quadratic programming within the Frenet frame. A path planned within the Frenet frame may violate the curvature bounds in a real-world Cartesian frame; thus, layer four is implemented through trial and error. Simulation results in CarSim software show that the derived paths reduce the poor positioning risk and are easily tracked by a controller.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".