From flatness-based trajectory tracking to path following

Author

Werling, Moritz ; Groll, Lutz

Author_Institution

Inst. of Appl. Comput., Sci./Autom., Univ. of Karlsruhe (TH), Karlsruhe, Germany

fYear

2009

fDate

3-5 June 2009

Firstpage

1271

Lastpage

1275

Abstract

In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.

Keywords

closed loop systems; position control; tracking; traffic control; autonomous maneuvering; closed loop system; driving assistance systems; flatness-based trajectory tracking; parking assistance; path following; quasistatic trajectory tracking control; Automatic control; Automation; Computer science; Mobile robots; Remotely operated vehicles; Tracking loops; Trajectory; Vehicle driving; Vehicle dynamics; Wheels; Flatness-based path tracking; automated parking; autonomous vehicle; quasi-static feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2009 IEEE

Conference_Location

Xi´an

ISSN

1931-0587

Print_ISBN

978-1-4244-3503-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2009.5164466

Filename

5164466