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...

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Bibliographic Details
Main Authors: Mullier Olivier
Alexandre dit Sandretto Julien
Format: Article
Published: University of Szeged, Institute of Informatics Szeged 2021
Series:Acta cybernetica 25 No. 1
Kulcsszavak:Kibernetika, Dinamikus rendszer
Subjects:
doi:10.14232/actacyb.285729

Online Access:http://acta.bibl.u-szeged.hu/73081
Description
Summary: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.
Physical Description:85-99
ISSN:0324-721X