An automatic Guidance system of an autonomous vehicle —the trajectory generation and the control algorithm
Sangkeum Lee, J. H. Williams, P.J. Rayment · Robotica · 1993
SUMMARY This paper presents a trajectory generation method using smooth functions for an automatic guidance system of an autonomous vehicle with two differentially driven wheels within structured environments. A control algorithm based on an incrementally generated smooth trajectory gives a good performance when implemented on an experimental vehicle.