Vehicle Reference Generator for Collision-free Paths

被引：0
|
作者：
Tarek Kabbani
Cuauhtemoc Acosta Lúa
Stefano Di Gennaro
机构：
[1] Loc. Coppito,Department of Information Engineering, Computer Science and Mathematics (DISIM); they are also with the Center of Excellence DEWS, University of L’Aquila, Via Vetoio
[2] Universidad de Guadalajara,Centro Universitario de la Ciénega
来源：
International Journal of Control, Automation and Systems | 2019年 / 17卷
关键词：
Active vehicle control; autonomous driving; collision-free trajectory; dynamic controller; potential fields; reference generator; vehicle dynamics;
D O I：
暂无
中图分类号：
学科分类号：
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
收藏
页码：181 / 192
页数：11
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