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Continuous-Curvature Paths for Mobile Robots
(Budapest University of Technology and Economics, 2009)
This paper discusses how to plan continuous-curvature paths for car-like wheeled mobile robots. The task is to generate a trajectory with upper-bounded curvature and curvature derivative. To solve this problem we use three ...
Designing a Tracking Controller for Passenger Cars with Steering Input
(Budapest University of Technology and Economics, 2008)
The results presented in the paper were motivated by a practical application. The goal was to design a parking assist system for a passenger car such that the assist is realized by controlling the steering wheel while the ...