Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Smooth motion generation for unicycle mobile robots via dynamic path inversion
IEEE Transactions on Robotics
Application of multicriteria decision-making techniques to manoeuvre planning in nonholonomic robots
Expert Systems with Applications: An International Journal
Hybrid control structure for multi-robot formation
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Brief paper: Range-only measurements based target following for wheeled mobile robots
Automatica (Journal of IFAC)
Nonlinear controller design of a ship autopilot
International Journal of Applied Mathematics and Computer Science
Improved ultra wideband-based tracking of twin-receiver automated guided vehicles
Integrated Computer-Aided Engineering - Anniversary Volume: Celebrating 20 Years of Excellence
Using adaptive background subtraction into a multi-level model for traffic surveillance
Integrated Computer-Aided Engineering
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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 service 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.