Trajectory planning and sliding-mode control based trajectory-tracking for cybercars

作     者：Solea, Razvan Nunes, Urbano 

作者机构：Univ Coimbra Inst Syst & Robot P-3030290 Coimbra Portugal 

出 版 物：《INTEGRATED COMPUTER-AIDED ENGINEERING》 (综合计算机辅助工程学)

年 卷 期：2007年第14卷第1期

页      面：33-47页

核心收录：

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：TRAJECTORIES (Mechanics) AUTOMATIC control MOBILE robots ROBOTS ROBOTICS 

摘      要：Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automated vehicles, might improve the efficiency of road travel in terms of space and energy used, and in terms of set-vice provided as well. For such automated operation, trajectory planning methods that produce smooth trajectories, with low level associated accelerations and jerk for providing human comfort, are required. This paper addresses this problem proposing a new approach that consists of introducing a velocity planning stage in the trajectory planner. Moreover, this paper presents the design and simulation evaluation of trajectory-tracking and path-following controllers for autonomous vehicles based on sliding mode control. A new design of sliding surface is proposed, such that lateral and angular errors are internally coupled with each other (in cartesian space) in a sliding surface leading to convergence of both variables.