In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.


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    Titel :

    From flatness-based trajectory tracking to path following


    Beteiligte:
    Werling, Moritz (Autor:in) / Groll, Lutz (Autor:in)


    Erscheinungsdatum :

    2009-06-01


    Format / Umfang :

    1460593 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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