Vehicle Reference Generator for Collision-free Paths

被引：3

作者：

Kabbani, Tarek ^{[1
,2
]}

Lua, Cuauhtemoc Acosta ^{[3
]}

Di Gennaro, Stefano ^{[1
,2
]}

机构：

[1] Univ Aquila, Dept Informat Engn Comp Sci & Math DISIM, Via Vetoio, I-67100 Laquila, Italy

[2] Univ Aquila, Ctr Excellence DEWS, Via Vetoio, I-67100 Laquila, Italy

[3] Univ Guadalajara, Ctr Univ Cienega, Av Univ Numero 1115, Ocotlan, Jalisco, Mexico

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2019年 / 17卷 / 01期

关键词：

Active vehicle control; autonomous driving; collision-free trajectory; dynamic controller; potential fields; reference generator; vehicle dynamics; GROUND VEHICLES; NONLINEAR OBSERVER; OBSTACLE AVOIDANCE; DESIGN; NAVIGATION;

D O I：

10.1007/s12555-017-0433-3

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 reference generator for ground vehicles. The generated trajectories avoid collisions with obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields are adapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensure the tracking of the accident-free reference. The performance of the proposed generator-based controller is tested on a simulated road scenario.

引用

页码：181 / 192

页数：12

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