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

Résultats de recherche: Contribution à un journal › Article › Revue par des pairs

Résumé

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.

langue originale	Anglais
journal	Acta Cybernetica
Volume	25
Numéro de publication	1
Les DOIs	https://doi.org/10.14232/actacyb.285729
état	Publié - 3 févr. 2021

Accès au document

10.14232/actacyb.285729

Contient cette citation

@article{92cde8c776da4e55ba47c26cc1aeddf2,

title = "Validated trajectory tracking using flatness",

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.",

author = "Olivier Mullier and \{dit Sandretto\}, \{Julien Alexandre\}",

year = "2021",

month = feb,

day = "3",

doi = "10.14232/actacyb.285729",

language = "English",

volume = "25",

journal = "Acta Cybernetica",

issn = "0324-721X",

number = "1",

}

TY - JOUR

T1 - Validated trajectory tracking using flatness

AU - Mullier, Olivier

AU - dit Sandretto, Julien Alexandre

PY - 2021/2/3

Y1 - 2021/2/3

N2 - 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.

AB - 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.

U2 - 10.14232/actacyb.285729

DO - 10.14232/actacyb.285729

M3 - Article

AN - SCOPUS:85105531423

SN - 0324-721X

VL - 25

JO - Acta Cybernetica

JF - Acta Cybernetica

IS - 1

ER -

Validated trajectory tracking using flatness

Résumé

Accès au document

Empreinte digitale

Contient cette citation