Validated trajectory tracking using flatness

Olivier Mullier; Julien Alexandre dit Sandretto

doi:10.14232/actacyb.285729

Validated trajectory tracking using flatness

Olivier Mullier, Julien Alexandre dit Sandretto

Research output: Contribution to journal › Article › peer-review

Abstract

The problem of a safe trajectory tracking is addressed in this paper. The method consists in using the results of a validated path planner: a set of safe trajectories. It produces the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. The computation is performed using the differential flatness property of many dynamical systems. The method is illustrated in the case of the Dubins car model.

Original language	English
Journal	Acta Cybernetica
Volume	25
Issue number	1
DOIs	https://doi.org/10.14232/actacyb.285729
Publication status	Published - 3 Feb 2021

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abstract = "The problem of a safe trajectory tracking is addressed in this paper. The method consists in using the results of a validated path planner: a set of safe trajectories. It produces the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. The computation is performed using the differential flatness property of many dynamical systems. The method is illustrated in the case of the Dubins car model.",

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Validated trajectory tracking using flatness

Abstract

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