A new velocity planning scheme is proposed for the motion control of autonomously guided vehicles. The devised solution, based on interpolating cubic splines, achieves a smooth planning with continuous velocities and accelerations and a jerk minimization. This planning is suited to be implemented within the framework of the iterative steering and the dynamic path inversion methods.
Velocity planning for autonomous vehicles
01.01.2004
526558 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
MPP1.25 Velocity Planning for Autonomous Vehicles
British Library Conference Proceedings | 2004
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