Idioma:

Navigation of an Autonomous Car Using Vector Fields and the Dynamic Window Approach

de Lima, Danilo Alves ; Pereira, Guilherme Augusto Silva

Journal of control, automation & electrical systems, 2013-04, Vol.24 (1-2), p.106-116

Texto completo disponível

Citações Citado por

Título:
Navigation of an Autonomous Car Using Vector Fields and the Dynamic Window Approach
Autor: de Lima, Danilo Alves ; Pereira, Guilherme Augusto Silva
Assuntos: Control ; Control and Systems Theory ; Electrical Engineering ; Engineering ; Mechatronics ; Robotics ; Robotics and Automation
É parte de: Journal of control, automation & electrical systems, 2013-04, Vol.24 (1-2), p.106-116
Descrição: This work presents a safe navigation approach for a car-like robot. The approach relies on a global motion planning based on velocity vector fields along with a dynamic window approach for avoiding unmodeled obstacles. Basically, the vector field is associated with a kinematic, feedback linearization controller whose outputs are validated, and eventually modified, by the dynamic window approach. Experiments with a full-size autonomous car equipped with a stereo camera show that the vehicle was able to track the vector field and avoid obstacles in its way.
Editor: Boston: Springer US
Idioma: Inglês

Voltar para lista de resultados