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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    Title :

    Motion planning for steering car-like vehicles


    Additional title:

    Bahnplanung für autonome, fahrerlose Fahrzeuge


    Contributors:
    Consolini, L. (author) / Piazzi, A. (author) / Tosques, M. (author)


    Publication date :

    2001


    Size :

    6 Seiten, 6 Bilder, 9 Quellen


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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