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Mathematical Problems in Engineering - Volume 2014 2014, Article ID 317494, 12 pages -

Research Article

Department of Mechatronics, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia

Department of Mechanical Engineering, Papua New Guinea University of Technology, Lae 411, Papua New Guinea

Received 8 January 2014; Revised 10 February 2014; Accepted 11 February 2014; Published 18 March 2014

Academic Editor: Sivaguru Ravindran

Copyright © 2014 Vu Trieu Minh and John Pumwa. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

Autor: Vu Trieu Minh and John Pumwa

Fuente: https://www.hindawi.com/


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