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.
Integrated trajectory control and collision avoidance for automated driving
2017-06-01
329090 byte
Conference paper
Electronic Resource
English
Driver assistance, collision avoidance and automated driving
Tema Archive | 2000
|Aircraft Collision Avoidance Trajectory Generation
British Library Conference Proceedings | 1998
|Vehicle cooperative collision avoidance method in automatic driving trajectory planning
European Patent Office | 2024
|Aircraft collision avoidance trajectory generation
AIAA | 1998
|