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.


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    Titel :

    Motion planning for steering car-like vehicles


    Weitere Titelangaben:

    Bahnplanung für autonome, fahrerlose Fahrzeuge


    Beteiligte:
    Consolini, L. (Autor:in) / Piazzi, A. (Autor:in) / Tosques, M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2001


    Format / Umfang :

    6 Seiten, 6 Bilder, 9 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch




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