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.
Velocity planning for autonomous vehicles
2004-01-01
526558 byte
Conference paper
Electronic Resource
English
MPP1.25 Velocity Planning for Autonomous Vehicles
British Library Conference Proceedings | 2004
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