Integrated trajectory control and collision avoidance for automated driving
| Autor: | Jeroen Ploeg, Jan Verhaegh, Ellen van Nunen, Arjan Teerhuis |
|---|---|
| Přispěvatelé: | Dynamics and Control, Mathematics and Computer Science |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Engineering
Reference trajectories IVS - Integrated Vehicle Safety 020209 energy Transportation 02 engineering and technology Kinematics Trajectories Computer Science::Robotics Acceleration Intelligent vehicle highway systems Automated driving Control theory 0502 economics and business 0202 electrical engineering electronic engineering information engineering Intelligent systems Traffic Feedback linearization Time-scaling Collision avoidance 050210 logistics & transportation Integrated design TS - Technical Sciences Industrial Innovation AGV business.industry 05 social sciences Intelligent decision support system Control engineering Automatic guided vehicles Real time Fluid & Solid Mechanics Trajectory control Trajectory Integrated designs business Actuator |
| Zdroj: | 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017. 26 June 2017 through 28 June 2017, 116-121 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017-Proceedings, 116-121 STARTPAGE=116;ENDPAGE=121;TITLE=5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017-Proceedings MT-ITS |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|