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Vehicle Reference Generator for Collision-free Paths
Tarek Kabbani,Cuauhtemoc Acosta Lúa,Stefano Di Gennaro 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
This paper presents a reference generator for ground vehicles. The generated trajectories avoid collisionswith obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. Thisgenerator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields areadapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensurethe tracking of the accident-free reference. The performance of the proposed generator-based controller is tested ona simulated road scenario.