Validated Trajectory Tracking using Flatness

Abstract

The problem of a safe trajectory tracking is addressed in this paper. The method consists in using the results of a validated path planner: a set of safe trajectories. It produces the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. The computation is performed using the differential flatness property of many dynamical systems. The method is illustrated in the case of the Dubins car model.