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Motion planning for steering car-like vehicles
| Content Provider | Semantic Scholar |
|---|---|
| Author | Consolini, Luca Piazza, A. Tosques, Mario |
| Copyright Year | 2001 |
| Abstract | In this article, using the kinematics model of a car-like vehicle with front-wheel driving we address the path-following problem on the Cartesian plane. Adopting a dynamic inversion approach we determine initial conditions and the steering input in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises from the needs of the autonomous vehicle driving using a stereo vision system. Relevant examples, i.e. path-following of lines, circle arcs, and quintic splines, are included with simulations. |
| Starting Page | 1834 |
| Ending Page | 1839 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.23919/ecc.2001.7076188 |
| Alternate Webpage(s) | http://www.ce.unipr.it/automatica/publications/archive/pubblico/Consolini_Piazzi_Tosques_2001_ECC.pdf |
| Alternate Webpage(s) | https://doi.org/10.23919/ecc.2001.7076188 |
| Journal | 2001 European Control Conference (ECC) |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |