Validated trajectory tracking using flatness

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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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
Place of Publication: Szeged
Related URLs:
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
Date Deposited: 2021. Jul. 19. 09:46
Last Modified: 2023. Feb. 21. 09:30

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