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.


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    Titel :

    Integrated trajectory control and collision avoidance for automated driving


    Beteiligte:
    Verhaegh, Jan (Autor:in) / Ploeg, Jeroen (Autor:in) / van Nunen, Ellen (Autor:in) / Teerhuis, Arjan (Autor:in)


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    329090 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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