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 proceedingConference contributionAcademicpeer-review

3 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 languageEnglish
Title of host publication5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers
Pages116-121
Number of pages6
ISBN (Electronic)978-1-5090-6484-7
DOIs
Publication statusPublished - 8 Aug 2017
Event5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italy
Duration: 26 Jun 201727 Jun 2017
Conference number: 5
http://www.mt-its2017.org/

Conference

Conference5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Abbreviated titleMT-ITS2017
CountryItaly
CityNapels
Period26/06/1727/06/17
Internet address

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