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Integrated trajectory control and collision avoidance for automated driving
This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by braking is implemented. Implementation and experimental evaluation of the integrated design of trajectory control, time-scaling and collision avoidance is performed on a real AGV platform.
Integrated trajectory control and collision avoidance for automated driving
This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by braking is implemented. Implementation and experimental evaluation of the integrated design of trajectory control, time-scaling and collision avoidance is performed on a real AGV platform.
Integrated trajectory control and collision avoidance for automated driving
Verhaegh, Jan (Autor:in) / Ploeg, Jeroen (Autor:in) / van Nunen, Ellen (Autor:in) / Teerhuis, Arjan (Autor:in)
01.06.2017
329090 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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