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.
Velocity planning for autonomous vehicles / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio; M., Romano. - (2004), pp. 413-418. (Intervento presentato al convegno IEEE Intelligent Vehicles Symposium, IV2004 nel June 14-17) [10.1109/IVS.2004.1336419].
Velocity planning for autonomous vehicles
GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio;
2004-01-01
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.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
