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.


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    Titel :

    Velocity planning for autonomous vehicles


    Beteiligte:
    Lo Bianco, C.G. (Autor:in) / Piazzi, A. (Autor:in) / Romano, M. (Autor:in)


    Erscheinungsdatum :

    2004-01-01


    Format / Umfang :

    526558 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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