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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
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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

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