PC-sliding for vehicles path planning and control: Design and evaluation of robustness to parameters change and measurement uncertainty

Mariolino DeCecco, Enrico Bertolazzi, Giordano Miori, Roberto Oboe, Luca Baglivo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel technique called PC-Sliding for path planning and control of non-holonomic vehicles is presented and its performances analysed in terms of robustness. The path following is based upon a polynomial curvature planning and a control strategy that replans iteratively to force the vehicle to correct for deviations while sliding over the desired path. Advantages of the proposed method are its logical simplicity, compatibility with respect to kinematics and partially to dynamics. Chained form transformations are not involved. Resulting trajectories are convenient to manipulate and execute in vehicle controllers while computed with a straightforward numerical procedure in real-time. The performances of the method that embody a planner, a controller and a sensor fusion strategy is verified by Monte Carlo method to assess its robustness to parameters changes and measurement uncertainties.

Original languageEnglish
Title of host publicationICINCO 2007 - 4th International Conference on Informatics in Control, Automation and Robotics, Proceedings
Pages11-18
Number of pages8
Volume2 RA
Publication statusPublished - 2007
Event4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007 - Angers, France
Duration: May 9 2007May 12 2007

Other

Other4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007
CountryFrance
CityAngers
Period5/9/075/12/07

Keywords

  • Clothoid
  • Nonholonomic
  • Path control
  • Path generation
  • Wheeled mobile robot
  • WMR

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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