{"title":"从基于平面度的轨迹跟踪到路径跟踪","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":"{\"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}","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}
From flatness-based trajectory tracking to path following
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
