DocumentCode
3266920
Title
Planning of minimal-time trajectories for high speed autonomous vehicles
Author
Kuhnert, Klaus-Dieter ; Seemann, Wolfgang
Author_Institution
Siegen Univ., Siegen
fYear
2007
fDate
13-15 June 2007
Firstpage
492
Lastpage
497
Abstract
The paper describes a method to compute the minimal-time trajectory for an autonomous vehicle driving at the force contact limit. It is proven that the optimal trajectory consists piecewise of logarithmic spirals and not of cothoids as is often thought. Simulation results are given for the interesting special case of a needle turn. These results are compared to normal polynomial interpolation.
Keywords
mobile robots; position control; vehicles; force contact limit; high speed autonomous vehicle; logarithmic spiral; minimal-time trajectories; Acceleration; Computational modeling; Learning systems; Mobile robots; Polynomials; Real time systems; Remotely operated vehicles; Spirals; Trajectory; Vehicle driving;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location
Istanbul
ISSN
1931-0587
Print_ISBN
1-4244-1067-3
Electronic_ISBN
1931-0587
Type
conf
DOI
10.1109/IVS.2007.4290163
Filename
4290163
Link To Document