This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by braking is implemented. Implementation and experimental evaluation of the integrated design of trajectory control, time-scaling and collision avoidance is performed on a real AGV platform.


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    Title :

    Integrated trajectory control and collision avoidance for automated driving


    Contributors:


    Publication date :

    2017-06-01


    Size :

    329090 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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