Clothoid curve optimization for parallel parking path planning and tracking control
نویسندگان
چکیده
Abstract In order to solve the problem of abrupt curvature change at connection between arcs and straight lines in circle-line-circle (C-L-C) combined parallel parking paths, optimization was carried out by using a cycloid curve, trajectory heading Angle were made meet pose requirements parking. By establishing kinematics model state equation taking optimized C-L-C as reference trajectory, error obtained. The predictive controller based on designed, effectiveness path planning verified Carsim Matlab/Simulink co-simulation platform.
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ژورنال
عنوان ژورنال: Journal of physics
سال: 2021
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2093/1/012004