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Integrated path planning and dynamic steering control for autonomous vehicles

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2 Author(s)
Krogh, B.H. ; Carnegie-Mellon University, Pittsburgh, PA, USA ; Thorpe, C.E.

A method is presented for combining two previously proposed algorithms for path-planning and dynamic steering control into a computationally feasible scheme for real-time feedback control of autonomous vehicles in uncertain environments. In the proposed approach to vehicle guidance and control, Path Relaxation is used to compute critical points along a globally desirable path using a priori information and sensor data. Generalized potential fields are then used for local feedback control to drive the vehicle along a collision-free path using the critical points as subgoals. Simulation results are presented to demonstrate the control scheme.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986

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