Integrated trajectory control and collision avoidance for automated driving

Jan Verhaegh; Jeroen Ploeg; Ellen van Nunen; Arjan Teerhuis

doi:10.1109/MTITS.2017.8005650

Integrated trajectory control and collision avoidance for automated driving

Jan Verhaegh, Jeroen Ploeg, Ellen van Nunen, Arjan Teerhuis

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

6 Citations (Scopus)

1 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers
Pages	116-121
Number of pages	6
ISBN (Electronic)	978-1-5090-6484-7
DOIs	https://doi.org/10.1109/MTITS.2017.8005650
Publication status	Published - 8 Aug 2017
Event	5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italy Duration: 26 Jun 2017 → 27 Jun 2017 Conference number: 5 http://www.mt-its2017.org/

Conference

Conference	5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Abbreviated title	MT-ITS2017
Country/Territory	Italy
City	Napels
Period	26/06/17 → 27/06/17
Internet address	http://www.mt-its2017.org/

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10.1109/MTITS.2017.8005650

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Verhaegh, J., Ploeg, J., van Nunen, E., & Teerhuis, A. (2017). Integrated trajectory control and collision avoidance for automated driving. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings (pp. 116-121). Article 8005650 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MTITS.2017.8005650

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title = "Integrated trajectory control and collision avoidance for automated driving",

abstract = "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.",

author = "Jan Verhaegh and Jeroen Ploeg and {van Nunen}, Ellen and Arjan Teerhuis",

year = "2017",

month = aug,

day = "8",

doi = "10.1109/MTITS.2017.8005650",

language = "English",

pages = "116--121",

booktitle = "5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) , MT-ITS2017 ; Conference date: 26-06-2017 Through 27-06-2017",

url = "http://www.mt-its2017.org/",

}

Verhaegh, J, Ploeg, J, van Nunen, E & Teerhuis, A 2017, Integrated trajectory control and collision avoidance for automated driving. in 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings., 8005650, Institute of Electrical and Electronics Engineers, pp. 116-121, 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) , Napels, Italy, 26/06/17. https://doi.org/10.1109/MTITS.2017.8005650

Integrated trajectory control and collision avoidance for automated driving. / Verhaegh, Jan; Ploeg, Jeroen; van Nunen, Ellen et al.
5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Institute of Electrical and Electronics Engineers, 2017. p. 116-121 8005650.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Integrated trajectory control and collision avoidance for automated driving

AU - Verhaegh, Jan

AU - Ploeg, Jeroen

AU - van Nunen, Ellen

AU - Teerhuis, Arjan

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PY - 2017/8/8

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N2 - 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.

AB - 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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U2 - 10.1109/MTITS.2017.8005650

DO - 10.1109/MTITS.2017.8005650

M3 - Conference contribution

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BT - 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings

PB - Institute of Electrical and Electronics Engineers

T2 - 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)

Y2 - 26 June 2017 through 27 June 2017

ER -

Integrated trajectory control and collision avoidance for automated driving

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