Integrated trajectory control and collision avoidance for automated driving

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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

2 Citaties (Scopus)
1 Downloads (Pure)

Uittreksel

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.

Originele taal-2Engels
Titel5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's116-121
Aantal pagina's6
ISBN van elektronische versie978-1-5090-6484-7
DOI's
StatusGepubliceerd - 8 aug 2017
Evenement5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italië
Duur: 26 jun 201727 jun 2017
Congresnummer: 5
http://www.mt-its2017.org/

Congres

Congres5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Verkorte titelMT-ITS2017
LandItalië
StadNapels
Periode26/06/1727/06/17
Internet adres

Vingerafdruk

Collision Avoidance
Collision avoidance
Automatic guided vehicles
Trajectories
Trajectory
scaling
Scaling
Feedback Linearization
Feedback linearization
Braking
Experimental Evaluation
Collision
Real-time
evaluation
time

Citeer dit

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 (blz. 116-121). [8005650] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MTITS.2017.8005650
Verhaegh, Jan ; Ploeg, Jeroen ; van Nunen, Ellen ; Teerhuis, Arjan. / Integrated trajectory control and collision avoidance for automated driving. 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Institute of Electrical and Electronics Engineers, 2017. blz. 116-121
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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., 8005650, Institute of Electrical and Electronics Engineers, blz. 116-121, 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) , Napels, Italië, 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; Teerhuis, Arjan.

5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017 - Proceedings. Institute of Electrical and Electronics Engineers, 2017. blz. 116-121 8005650.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Verhaegh J, Ploeg J, van Nunen E, Teerhuis A. 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. Institute of Electrical and Electronics Engineers. 2017. blz. 116-121. 8005650 https://doi.org/10.1109/MTITS.2017.8005650