A Hierarchical Approach to Optimal Path-Planning and Path Control for an Autonomous Vehicle

被引：2
|
作者：
Schmidt, Stephan [1 ]
Kasper, Roland [1 ]
机构：
[1] Univ Magdeburg, Inst Mobile Syst, D-39106 Magdeburg, Germany
来源：
AT-AUTOMATISIERUNGSTECHNIK | 2012年 / 60卷 / 12期
关键词：
Autonomous driving; nonlinear optimal feed forward control; path control; adaptive control;
D O I：
10.1524/auto.2012.1052
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a path-planning and path-control concept for autonomous driving with a track guided vehicle. The specification of an adequate reference trajectory is performed by solving a nonlinear optimal-control problem considering realistic constraints like available road width or maximum tolerable longitudinal and lateral accelerations. The path-control system is based upon decoupling and linearization of the nonlinear control plant with the help of substitute control variables. Some driving experiments are shown to prove the operability of the system.
引用
收藏
页码：743 / 753
页数：11
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