Integrated trajectory control and collision avoidance for automated driving

Verhaegh, J.; Ploeg, J.; Nunen, E. van; Teerhuis, A.

Integrated trajectory control and collision avoidance for automated driving

conference paper

2017

Verhaegh, J.

Ploeg, J.

Nunen, E. van

Teerhuis, A.

This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by braking is implemented. Implementation and experimental evaluation of the integrated design of trajectory control, time-scaling and collision avoidance is performed on a real AGV platform.

Topics

AGV Automatic guided vehicles Collision avoidance Feedback linearization Intelligent systems Trajectories Transportation Automated driving Integrated designs Real time Reference trajectories Time-scaling Trajectory control Intelligent vehicle highway systems

TNO Identifier

781365

Repository link

https://resolver.tno.nl/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949

ISBN

9781509064847

Publisher

Institute of Electrical and Electronics Engineers Inc.

Article nr.

8005650

Source title

5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017. 26 June 2017 through 28 June 2017

Pages

116-121

Files

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Integrated trajectory control and collision avoidance for automated driving

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