On the Path Control with Autonomous Trajectory Generation
نویسندگان
چکیده
منابع مشابه
Trajectory Generation and Control Methodology for an Autonomous Ground Vehicle
The Overbot, originally designed to compete in the DARPA Grand Challenge, has been retasked as a testbed for autonomous vehicle research. A complete platform, the vehicle allows for development and validation of new control algorithms, actuators and sensors by allowing integration into an existing architecture. An overview of the vehicle is provided, describing the interaction of hardware and s...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملTrajectory Generation for an On-Road Autonomous Vehicle
We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cub...
متن کاملReal-Time Trajectory Generation for Redundant Manipulators with Path Constraints
This paper addresses the problem of tracking a prescribed geometric path by the end effector of a kinematically redundant manipulator at the control loop level. The constraints imposed on the robot actuator controls are taken into account. The Lyapunov stability theory and/or the calculus of variations is used to derive the control scheme. Through the use of an exterior penalty function approac...
متن کاملSmooth Path Generation Based on Bézier Curves for Autonomous Vehicles
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1982
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.18.423