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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 (author) / Ploeg, Jeroen (author) / van Nunen, Ellen (author) / Teerhuis, Arjan (author)
2017-06-01
329090 byte
Conference paper
Electronic Resource
English
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