Velocity planning for autonomous vehicles
Corrado Guarino Lo Bianco, A. Plazzi, M. Romano · 2004
A new velocity planning scheme is proposed for the motion control of autonomously guided vehicles. The devised solution, based on interpolating cubic splines, achieves a smooth planning with continuous velocities and accelerations and a jerk minimization. This planning is suited to be implemented within the framework of the iterative steering and the dynamic path inversion methods.