On the Method of Generating a Circular-Clothoid Trajectory for Front-Steering Vehicles Based on L1/L2-Optimal Control

On the Method of Generating a Circular-Clothoid Trajectory for Front-Steering Vehicles Based on L1/L2-Optimal Control

The continuity and the constantness of both the curvature and the velocity in a trajectory are essential for the vehicle trajectory design from the viewpoint of the followability. This paper presents a new method of generating a vehicle trajectory whose curvature and velocity continuously change whi...

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Bibliographic Details
Main Authors: Kiyoshi Hamada, Ichiro Maruta, Kenji Fujimoto, Kenniti Hamamoto
Format: Article
Language:English
Published: Taylor & Francis Group 2020-05-01
Series:SICE Journal of Control, Measurement, and System Integration
Subjects:
nonlinear optimal control
trajectory generation
Online Access:http://dx.doi.org/10.9746/jcmsi.13.107

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