Title :
Velocity planning for autonomous vehicles
Author :
Bianco, Corrado Guarino Lo ; Piazzi, Aurelio ; Romano, Massimo
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Parma Univ., Italy
Abstract :
A new velocity planning scheme is proposed for the motion control of autonomously guided vehicles. The devised solution, based on interpolating cubic splines, achieves a smooth planning with continuous velocities and accelerations and a jerk minimization. This planning is suited to be implemented within the framework of the iterative steering and the dynamic path inversion methods.
Keywords :
minimisation; motion control; planning (artificial intelligence); road vehicles; splines (mathematics); velocity control; autonomously guided vehicles; dynamic path inversion method; interpolating cubic splines; iterative steering; jerk minimization; motion control; velocity planning; Acceleration; Boundary conditions; Iterative methods; Mobile robots; Motion control; Motion planning; Path planning; Remotely operated vehicles; Strategic planning; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN :
0-7803-8310-9
DOI :
10.1109/IVS.2004.1336419
