A Principle of Trajectory Planning for an Autonomous Vehicle

被引：0

作者：

Hang, Heping ^{[1
]}

Huo, Gang ^{[1
]}

Gong, Zixia ^{[1
]}

机构：

[1] Beijing Union Univ, Biochem Engn Coll, Beijing, Peoples R China

来源：

2009 INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION, AND ROBOTICS, PROCEEDINGS | 2009年

关键词：

Autonomous-vehicle; trajectory; planning; AGV;

D O I：

10.1109/CAR.2009.14

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, a proposition about the relationship between path curve and cart motion is proposed and proved. Based on the proposition, the cubic polynomial is provided as a transition path. This is convenient for designing the trajectory and uniqueness for determining parameters of the path curves by the allowable minimal turn radius of cart. Experimental results, performed on the prototype cart, show that the cart tracks given paths with the cubic polynomial as a transition smoothly and accurately.

引用

页码：139 / 141

页数：3

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