Flatness-based vehicle online path following with time-varying constraints of dynamics

摘要

In this paper, we consider the vehicle online path following under structure environment as object of our researching. By using the rolling method, a trajectory generation method based on flatness and a local path planning algorithm are proposed according to the characters of structure environment. In order to satisfy feasibility and safety, time-varying dynamics constraints are taken into account. The simulation results illustrate the effectiveness of our algorithm.