DocumentCode
2520613
Title
Flatness-based vehicle online path following with time-varying constraints of dynamics
Author
Yanfeng, Cong ; Zaitao, Yu ; Hong, Chen ; Sawodny, Oliver
Author_Institution
State Key Lab. of Automobile Dynamic Simulation, JiLin Univ., ChangChun, China
fYear
2011
fDate
23-25 May 2011
Firstpage
3385
Lastpage
3390
Abstract
In this paper, we consider the vehicle online path following under structure environment as object of our researching. By using the rolling method, a trajectory generation method based on flatness and a local path planning algorithm are proposed according to the characters of structure environment. In order to satisfy feasibility and safety, time-varying dynamics constraints are taken into account. The simulation results illustrate the effectiveness of our algorithm.
Keywords
mobile robots; path planning; position control; road safety; time-varying systems; vehicle dynamics; flatness-based vehicle online path following; local path planning algorithm; rolling method; safety; structure environment; time-varying dynamics constraint; trajectory generation method; vehicle dynamics; Acceleration; Planning; Tires; Trajectory; Vehicle dynamics; Vehicles; flatness; motion planning; rolling optimization; time-varying dynamics constraint;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location
Mianyang
Print_ISBN
978-1-4244-8737-0
Type
conf
DOI
10.1109/CCDC.2011.5968700
Filename
5968700
Link To Document