Planification et suivi de trajectoires pour la navigation des véhicules autonomes

Doctoral thesis English OPEN
Chebly, Alia;
(2017)
  • Publisher: HAL CCSD
  • Subject: Méthode des tentacules | Autonomous vehicles | Overtaking maneuver | Tentacles method | [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering | Trajectory planning | Robotics modeling | Modélisation robotique | Coupled control | Contrôle couplé | [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering | [ SPI.AUTO ] Engineering Sciences [physics]/Automatic | [SPI.AUTO]Engineering Sciences [physics]/Automatic | Planification de trajectoires | Clothoides | Manoeuvres de dépassement

In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulat... View more
  • References (28)
    28 references, page 1 of 3

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