Path tracking using simple planar curves
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Authors
Abresch, Richard James
Subjects
Path planning
Obstacle Avoidance
Autonomous Vehicle Motion
Obstacle Avoidance
Autonomous Vehicle Motion
Advisors
Kanayama, Yutaka.
Date of Issue
1992-03
Date
Mar-92
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This thesis presents a method of controlling an autonomous vehicle's motion in a two dimensional environment. Its' purpose is to expand the functionality of a vehicle's motion by complementing a point to point path planning scheme with a path to path scheme. The method introduced in this paper will use the vehicle's position and the desired path to calculate the necessary curvature to effect movement onto the desired reference path. The reference path will be a simple planar curve, such as, a circle or line. After successful testing of an operating algorithm, the method shall be incorporated into a robot's software system. This path tracking method will lay the groundwork for a dynamic obstacle avoidance system for a mobile robot.
Type
Thesis
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
vi, 96 p.: ill.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.