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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    Title :

    Velocity planning for autonomous vehicles


    Contributors:
    Lo Bianco, C.G. (author) / Piazzi, A. (author) / Romano, M. (author)


    Publication date :

    2004-01-01


    Size :

    526558 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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