Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1664 - 1669, April, 1986
Abstract
A method is presented for combining two previously proposed algorithms for path-planning and dynamic steering control into a computationally feasible scheme for real-time feedback control of autonomous vehicles in uncertain environments. In the proposed approach to vehicle guidance and control, Path Relaxation is used to compute critical points along a globally desirable path using a priori information and sensor data. Generalized potential fields are then used for local feedback control to drive the vehicle along a collision-free path using the critical points as subgoals. Simulation results are presented to demonstrate the control scheme.
BibTeX
@conference{Krogh-1986-15276,author = {Bruce Krogh and Chuck Thorpe},
title = {Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1986},
month = {April},
pages = {1664 - 1669},
}
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