Trajectory control of vehicles with a discrete linearized model

Developing of qualitative planning and control systems for self-driving vehicles is one of the most crucial scientific and technical issues. Solution of this issue will allow promoting self-driving technologies to urban areas with critical demands to driving safety, smoothness and efficiency. Here w...

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Bibliographic Details
Published in2020 International Conference Nonlinearity, Information and Robotics (NIR) pp. 1 - 6
Main Authors Shapovalov, Igor, Gafurov, Salimzhan
Format Conference Proceeding
LanguageEnglish
Published IEEE 03.12.2020
Subjects
A-star
dynamics
Heuristic algorithms
identification
Markov parameters
model-predictive path-integral
path planning
Planning
Trajectory
Transfer functions
Uncertainty
Urban areas
Vehicle dynamics
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Summary:Developing of qualitative planning and control systems for self-driving vehicles is one of the most crucial scientific and technical issues. Solution of this issue will allow promoting self-driving technologies to urban areas with critical demands to driving safety, smoothness and efficiency. Here we propose the hybrid approach consisting of planning and control algorithms working together to drive a vehicle through complex environments with uncertainties. For efficient and fast work of this system we provide a vehicle model in a form of discrete transfer functions that are easily integrated into the control process.
DOI:10.1109/NIR50484.2020.9290191