Using the kinematics model of a car-like vehicle with front-wheel driving the path-following problem is addressed on the Cartesian plane. Adopting a dynamic inversion approach initial conditions and the steering input are determined in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises from the needs of the autonomous vehicle driving using a stereo vision system. Relevant examples, i.e. path-following of lines, circle arcs, and quintic splines, are included with simulations.
Motion planning for steering car-like vehicles
Bahnplanung für autonome, fahrerlose Fahrzeuge
ECC, European Control Conference, 2001 ; 1834-1839
2001
6 Seiten, 6 Bilder, 9 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
MOTION PLANNING FOR STEERING CAR-LIKE VEHICLES
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