Validated Trajectory Tracking using Flatness

descriptionPublicationkeyboard_double_arrow_right Article 03 Feb 2021Publisher:University of SzegedJournal:Acta Cybernetica, volume 25, pages 85-99 (issn: 0324-721X, eissn: 2676-993X,

Copyright policy )

Authors: Olivier Mullier; Julien Alexandre Dit Sandretto;

doi: 10.14232/actacyb.285729

Validated Trajectory Tracking using Flatness

- Summary
- Metrics

Abstract

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

Related Organizations

Superior National School of Advanced Techniques
France

Impact byBIP!

	selected citations These citations are derived from selected sources. This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	0
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average