Flatness-Based Vehicle Online Path Following with Time-varying Constraints of Dynamics

摘要：

In this paper, we consider the vehicle online path following under structure environment as object of our researching. By using the rolling method, a trajectory generation method based on flatness and a local path planning algorithm are proposed according to the characters of structure environment. In order to satisfy feasibility and safety, timevarying dynamics constraints are taken into account. The simulation results illustrate the effectiveness of our algorithm.

关键词： flatness motion planning time-varying dynamics constraint rolling optimization

作者: Cong Yanfeng Yu Zaitao Chen Hong Oliver Sawodny

作者单位: State key Laboratory of Automobile Dynamic Simulation, JiLin University, ChangChun, PR China, 130025 Stuttgart University, Institute for System Dynamics. Stuttgart Germany 70511

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 3394-3399

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）