Limiting velocity & acceleration commands for dynamic control of a large vehicle

The effect of changing the input goal coordinates to a real vehicle´s position control system is examined here. Such inputs provide motoring speed/torque signals, based upon local sensor information and the position of the global target, with little regard for the vehicle dynamics. In this article mobile robot path planning parameters are related to the application of correct, general control laws. The derivation of desired velocity/torque signals which feed a vehicle´s speed/torque controller and conform to the velocity and acceleration limits of the vehicle is presented. A trajectory planner which produces correct displacement, velocity and acceleration profiles as a function of time is derived. These trajectories drive the vehicle to its target, while always keeping within the defined safe operating acceleration-velocity limits.