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

3 Citaten (Scopus)
1 Downloads (Pure)

Samenvatting

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

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