Validated trajectory tracking using flatness
The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This comp...
Elmentve itt :
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| Dokumentumtípus: | Cikk |
| Megjelent: |
University of Szeged, Institute of Informatics
Szeged
2021
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| Sorozat: | Acta cybernetica
25 No. 1 |
| Kulcsszavak: | Kibernetika, Dinamikus rendszer |
| Tárgyszavak: | |
| doi: | 10.14232/actacyb.285729 |
| Online Access: | http://acta.bibl.u-szeged.hu/73081 |
| Tartalmi kivonat: | The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This computation is performed using the differential flatness of many dynamical systems. The method is illustrated in the case of the Dubins car. |
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| Terjedelem/Fizikai jellemzők: | 85-99 |
| ISSN: | 0324-721X |