Integrated trajectory control and collision avoidance for automated driving


== Abstract ==

This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism. Employing this mechanism, collision avoidance by braking is implemented. Implementation and experimental evaluation of the integrated design of trajectory control, time-scaling and collision avoidance is performed on a real AGV platform.


== Original document ==

The different versions of the original document can be found in:

* [http://resolver.tudelft.nl/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949 http://resolver.tudelft.nl/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949]

* [https://research.tue.nl/nl/publications/integrated-trajectory-control-and-collision-avoidance-for-automated-driving(6ba8bf74-efa9-41f9-ae5d-fe9f4ab3f637).html https://research.tue.nl/nl/publications/integrated-trajectory-control-and-collision-avoidance-for-automated-driving(6ba8bf74-efa9-41f9-ae5d-fe9f4ab3f637).html]

* [http://www.scopus.com/inward/record.url?scp=85030218075&partnerID=8YFLogxK http://www.scopus.com/inward/record.url?scp=85030218075&partnerID=8YFLogxK],
: [http://dx.doi.org/10.1109/mtits.2017.8005650 http://dx.doi.org/10.1109/mtits.2017.8005650]

* [http://xplorestaging.ieee.org/ielx7/7999202/8005574/08005650.pdf?arnumber=8005650 http://xplorestaging.ieee.org/ielx7/7999202/8005574/08005650.pdf?arnumber=8005650],
: [http://dx.doi.org/10.1109/mtits.2017.8005650 http://dx.doi.org/10.1109/mtits.2017.8005650]

* [https://research.tue.nl/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2 https://research.tue.nl/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2],
: [https://ieeexplore.ieee.org/document/8005650 https://ieeexplore.ieee.org/document/8005650],
: [https://www.narcis.nl/publication/RecordID/oai%3Atudelft.nl%3Auuid%3Aff491168-8d12-4cd5-8536-0ce450fb3949 https://www.narcis.nl/publication/RecordID/oai%3Atudelft.nl%3Auuid%3Aff491168-8d12-4cd5-8536-0ce450fb3949],
: [https://repository.tudelft.nl/view/tno/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949 https://repository.tudelft.nl/view/tno/uuid:ff491168-8d12-4cd5-8536-0ce450fb3949],
: [https://dblp.uni-trier.de/db/conf/mtits/mtits2017.html#VerhaeghPNT17 https://dblp.uni-trier.de/db/conf/mtits/mtits2017.html#VerhaeghPNT17],
: [http://ieeexplore.ieee.org/document/8005650 http://ieeexplore.ieee.org/document/8005650],
: [https://doi.org/10.1109/MTITS.2017.8005650 https://doi.org/10.1109/MTITS.2017.8005650],
: [http://doi.org/10.1109/MTITS.2017.8005650 http://doi.org/10.1109/MTITS.2017.8005650],
: [https://tue-staging.elsevierpure.com/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2 https://tue-staging.elsevierpure.com/en/publications/integrated-trajectory-control-and-collision-avoidance-for-automat-2],
: [https://academic.microsoft.com/#/detail/2742840724 https://academic.microsoft.com/#/detail/2742840724]