Trajectory Generation and Control of Autonomous Vehicles

Abstract

The objective of this paper is to find feasible path planning algorithms for non-holonomic vehicles subject to their real dynamical constraints. Symmetric polynomial trajectory generation is proposed as reference. Then a trajectory tracking controller for a nonlinear vehicle model is developed, linearizing and discretizing the model, using a linear-quadratic regulator (LQR) control algorithm. Results of numerical simulations are shown. At the end, other controllers are presented in order to continue this work and compare their performances.