Title
Integrated trajectory control and collision avoidance for automated driving
Author
Verhaegh, J.
Ploeg, J.
van Nunen, E.
Teerhuis, A.
Publication year
2017
Abstract
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.
Subject
Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Industrial Innovation
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
To reference this document use:
http://resolver.tudelft.nl/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949
DOI
https://doi.org/10.1109/mtits.2017.8005650
TNO identifier
781365
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISBN
9781509064847
Source
5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017. 26 June 2017 through 28 June 2017, 116-121
Article number
8005650
Document type
conference paper