Motion planning for steering car-like vehicles

Author

Consolini, L. ; Piazza, A. ; Tosques, M.

Author_Institution

Dipt. di Ing. dell´Inf., Univ. di Parma, Parma, Italy

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

1834

Lastpage

1839

Abstract

In this article, using the kinematics model of a car-like vehicle with front-wheel driving we address the path-following problem on the Cartesian plane. Adopting a dynamic inversion approach we determine initial conditions and the steering input in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises from the needs of the autonomous vehicle driving using a stereo vision system. Relevant examples, i.e. path-following of lines, circle arcs, and quintic splines, are included with simulations.

Keywords

mobile robots; path planning; road vehicles; steering systems; trajectory control; wheels; Cartesian path; Cartesian plane; autonomous vehicle driving; car-like vehicles steering; dynamic inversion approach; front-wheel driving; kinematics model; motion planning problem; path-following problem; steering input; stereo vision system; trajectory tracking; vehicle front point; Dynamics; Equations; Europe; Mathematical model; Planning; Vehicle dynamics; Vehicles; Autonomous vehicles; dynamic inversion; mobile robots; robot motion control; trajectory tracking in nonlinear systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076188