{"title":"From flatness-based trajectory tracking to path following","authors":"M. Werling, L. Groll","doi":"10.1109/IVS.2009.5164466","DOIUrl":null,"url":null,"abstract":"In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"118 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE Intelligent Vehicles Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2009.5164466","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In this contribution, we develope a flatness-based control strategy suitable for parking assistance and autonomous maneuvering in static environments. It is derived from quasistatic trajectory tracking control in a straight-forward manner and preserves the invariance property (with respect to the choice of the initial frame) of the plant for the closed loop system. In addition, it solves the nearest-point projection of the car onto the curve implicitly. The results are illustrated by simulation and experiment.
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