Integrated trajectory control and collision avoidance for automated driving

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.

Original document

The different versions of the original document can be found in:

• http://resolver.tudelft.nl/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949

• https://research.tue.nl/nl/publications/integrated-trajectory-control-and-collision-avoidance-for-automated-driving(6ba8bf74-efa9-41f9-ae5d-fe9f4ab3f637).html

• http://www.scopus.com/inward/record.url?scp=85030218075&partnerID=8YFLogxK,

http://dx.doi.org/10.1109/mtits.2017.8005650

• http://xplorestaging.ieee.org/ielx7/7999202/8005574/08005650.pdf?arnumber=8005650,

http://dx.doi.org/10.1109/mtits.2017.8005650

• https://research.tue.nl/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2,

https://ieeexplore.ieee.org/document/8005650,

https://www.narcis.nl/publication/RecordID/oai%3Atudelft.nl%3Auuid%3Aff491168-8d12-4cd5-8536-0ce450fb3949,

https://repository.tudelft.nl/view/tno/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949,

https://dblp.uni-trier.de/db/conf/mtits/mtits2017.html#VerhaeghPNT17,

http://ieeexplore.ieee.org/document/8005650,

https://doi.org/10.1109/MTITS.2017.8005650,

http://doi.org/10.1109/MTITS.2017.8005650,

https://tue-staging.elsevierpure.com/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2,

https://academic.microsoft.com/#/detail/2742840724