Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-24T02:04:52.010Z Has data issue: false hasContentIssue false
  • English
  • Français

An automatic Guidance system of an autonomous vehicle —the trajectory generation and the control algorithm

Published online by Cambridge University Press:  09 March 2009

S.S. Lee ,
J.H. Williams  and
P.J. Rayment
S.S. Lee
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronics and Systems Engineering, University of Wal College of Cardiff, East Building, Newport Road, Cardiff, CF2 1XH, UK
J.H. Williams
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronics and Systems Engineering, University of Wal College of Cardiff, East Building, Newport Road, Cardiff, CF2 1XH, UK
P.J. Rayment
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronics and Systems Engineering, University of Wal College of Cardiff, East Building, Newport Road, Cardiff, CF2 1XH, UK
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a trajectory generation method using smooth functions for an automatic guidance system of an autonomous vehicle with two differentially driven wheels within structured environments. A control algorithm based on an incrementally generated smooth trajectory gives a good performance when implemented on an experimental vehicle.

Keywords

Autonomous vehicle; Guidance system; Trajectory generation.
Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993 , pp. 309 - 314
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Tsumura, T. et al. , “An Experimental System for Automatic Guidance of Roboted Vehicle, following the route stored in Memory” Proc. Wth Int. Symp. on Industrial Robotics (10, 1981) pp. 187–193.Google Scholar
2.Komoriya, K. et al. , “A Method for Autonomous Locomotion of Mibile Robots” J. Rob. Soc. Japan 2, 222–231 (1984).CrossRefGoogle Scholar
3.Hongo, T. et al. , “An Automatic Guidance System of a Self-controlled Vehicle-The command System and the Control Algorithm…” IEEE Trans, on Industrial Electronics IE–34, No. 1, 535–540 (1985).Google Scholar
4.Kanayama, Y. and Miyake, N., “Trajectory Generation for Mobile Robots” Robotics Research: The 3rd Int. Symp. ISRR, Gouvieux, France (1986) pp. 333–340.Google Scholar
5.Kanayama, Y. and Yuta, S., “Vehicle Path Specification by a Sequence of Straight Lines” Proc. IEEE Int. Conf. on Robotics and Automation 4, No. 3, 265–276(06, 1988).CrossRefGoogle Scholar
6.Nelson, W.L., “Continuous Steering-Function control of Robot Carts” IEEE Trans, on Industrial Electronics 36, No. 3 (08 1989) pp. 330–337.CrossRefGoogle Scholar
7.Steer, B., “Trajectory Planning for a Mobile Robot” J. Robotics Research 8, No. 5, 3–14 (10, 1989).CrossRefGoogle Scholar
8.Lee, S.S., “A Study of Local Path Controller for Autonomous Vehicle Systems” PhD Thesis (University of Wales, Cardiff, UK, 1992).Google Scholar
9.Rogers, D.F. and Adams, J. A., Mathematical Elements for Computer Graphics McGraw-Hill, New York, 1976).Google Scholar
10.Craig, J.J., Introduction to Robotics Second Edition (Addison-Wesley, Wokingham, UK, 1989).Google Scholar