Laser-based Obstacle Avoidance Algorithm for Four Driving/Steering Wheels Autonomous Vehicle

被引：0

作者：

Dumitrascu, B. ^{[1
]}

Filipescu, A. ^{[1
]}

Petrea, G. ^{[1
]}

Minca, Eugenia ^{[2
]}

Filipescu, S. ^{[3
]}

Voda, Alina ^{[4
]}

机构：

[1] Dunarea de Jos Univ Galati, Dept Automat & Elect Engn, Galati, Romania

[2] Valahia Univ Targoviste, Dept Automat Comp Sci & Elect Engn, Targoviste, Romania

[3] Univ Politehn Bucuresti, Bucharest, Romania

[4] Joseph Fourier Univ 1, CNRS, GIPSA Lab, Grenoble, France

来源：

2013 17TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2013年

关键词：

VARIABLE-STRUCTURE CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper an algorithm for trajectory-tracking with obstacle avoidance for autonomous vehicles is presented. The algorithm tracks a trajectory composed of an intended global trajectory that was previously generated and local obstacle avoidance trajectories that are created when an obstacle is detected by the laser. A discrete-time sliding-mode controller is used by the autonomous vehicle to follow the global trajectory and the local obstacle avoidance trajectories. Quintic equations are used to generate the paths used by the vehicle to avoid the obstacles. The velocity, acceleration, angular velocity and angular acceleration profiles are calculated for the generated paths and fed to the sliding-mode controller.

引用

页码：187 / 192

页数：6