Polynomial curve-based longitudinal motion planning for safe deceleration

Autor:	Byungjae Park, Woo Yong Han
Rok vydání:	2015
Předmět:	Computer Science::Robotics Mathematical optimization Acceleration Unmanned ground vehicle Control theory ComputerApplications_COMPUTERSINOTHERSYSTEMS Motion planning Quintic function Mathematics
Zdroj:	2015 15th International Conference on Control, Automation and Systems (ICCAS).
DOI:	10.1109/iccas.2015.7364808
Popis:	This paper proposes a longitudinal motion planning method to reduce the velocity of an unmanned ground vehicle safely when it encounters stopped vehicles or obstacles on the road. The proposed method can generate the smooth velocity and acceleration profiles using the quintic polynomial curve. The optimal quintic polynomial curve can be determined by a numerical optimization approach. The performance of the proposed method is verified by simulations.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::abdca1800960d84c5f7a62a925c81990 https://doi.org/10.1109/iccas.2015.7364808 Zobrazit plný text záznamu