文献类型：会议论文

英文题名：A principle of trajectory planning for an autonomous vehicle

作者：Heping Hang[1]; Gang Huo[1]; Zixia Gong[1]

机构：[1] Biochem. Eng. Coll., Beijing Union Univ., Beijing, China

第一机构：北京联合大学生物化学工程学院

会议日期：1-2 Feb. 2009

会议地点：Bangkok, Thailand

语种：英文

外文关键词：automatic guided vehicles - control system synthesis - mobile robots - path planning - polynomials - position control

摘要：In this paper, a proposition about the relationship between path curve and cart motion is proposed and proved. Based on the proposition, the cubic polynomial is provided as a transition path. This is convenient for designing the trajectory and uniqueness for determining parameters of the path curves by the allowable minimal turn radius of cart. Experimental results, performed on the prototype cart, show that the cart tracks given paths with the cubic polynomial as a transition smoothly and accurately.