The use of smooth command signals for the control of autonomous vehicles guarantees moderate travelling solicitations and better wheels grip. To achieve command smoothness, the vehicle longitudinal velocity must be continuous and differentiable. For this reason, a scheme for the real-time optimal velocity planning is proposed in this paper. A continuously differentiable profile, which satisfies assigned interpolating conditions, is generated by means of an optimization program which minimizes the longitudinal jerk. The resulting velocity function and its first derivative are constrained between assigned bounds.
Kinematically constrained smooth real-time velocity planning for robotics applications / GUARINO LO BIANCO, Corrado. - (2009), pp. 374-378. (Intervento presentato al convegno The 7th IEEE International Conference on Control and Automation, ICCA'09 tenutosi a Christchurch, New Zealand nel Dec., 9 – 11) [10.1109/ICCA.2009.5410402].
Kinematically constrained smooth real-time velocity planning for robotics applications
GUARINO LO BIANCO, Corrado
2009-01-01
Abstract
The use of smooth command signals for the control of autonomous vehicles guarantees moderate travelling solicitations and better wheels grip. To achieve command smoothness, the vehicle longitudinal velocity must be continuous and differentiable. For this reason, a scheme for the real-time optimal velocity planning is proposed in this paper. A continuously differentiable profile, which satisfies assigned interpolating conditions, is generated by means of an optimization program which minimizes the longitudinal jerk. The resulting velocity function and its first derivative are constrained between assigned bounds.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
