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《Agricultural Equipment & Vehicle Engineering》 2013-03
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Intelligent Vehicle Trajectory Planning Based on Polynomial Theory

Ma Chuan, Cao Kai (School of Traffic and Vehicle Engineering, Shandong University of Technology, Zibo City, Shandong Province 255091, China)  
Motion planning is one of the key technologies of intelligent vehicles, including path planning and trajectory planning. The purpose of motion planning is that the intelligent vehicle can travel steadily and rapidly in complex road environment. For real-time and flexibility of intelligent vehicle trajectory planning, a real-time trajectory planning method is put forward based on polynomials theory and differential flatness theory. First, the differential flatness nature of the nonlinear system of intelligent vehicle is analyzed and its flat input and output are determined; and secondly, the intelligent vehicle's trajectory is generated through a fully parametric polynomial curve; and finally, it is verified that the method for real-time intelligent vehicle trajectory planning has better validity and enforceability by comparing simulation with B-spline trajectory planning.
【CateGory Index】: U491
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