Mullier Olivier and Alexandre dit Sandretto Julien: Validated trajectory tracking using flatness. In: Acta cybernetica, (25) 1. pp. 85-99. (2021)
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Abstract
The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This computation is performed using the differential flatness of many dynamical systems. The method is illustrated in the case of the Dubins car.
| Item Type: | Article |
|---|---|
| Journal or Publication Title: | Acta cybernetica |
| Date: | 2021 |
| Volume: | 25 |
| Number: | 1 |
| ISSN: | 0324-721X |
| Page Range: | pp. 85-99 |
| Language: | English |
| Publisher: | University of Szeged, Institute of Informatics |
| Related URLs: | http://acta.bibl.u-szeged.hu/73050/ |
| DOI: | 10.14232/actacyb.285729 |
| Uncontrolled Keywords: | Kibernetika, Dinamikus rendszer |
| Additional Information: | Bibliogr.: p. 97-99. ; összefoglalás angol nyelven |
| Subjects: | 01. Natural sciences 01. Natural sciences > 01.02. Computer and information sciences 01. Natural sciences > 01.02. Computer and information sciences > 01.02.01. Computer sciences, information science and bioinformatics |
| Date Deposited: | 2021. Jul. 19. 09:46 |
| Last Modified: | 2021. Jul. 19. 09:46 |
| URI: | http://acta.bibl.u-szeged.hu/id/eprint/73081 |
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