| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 92 === This thesis presents continuous trajectory generation methods for a planar vehicle. Three trajectory generation methods are proposed. First, a line trajectory directly for the planar vehicle is studied. Second, because the vehicle must rotate at the start and target points for the line trajectory generation methods, a trajectory composed of line and arc segments for the vehicle is then planned. But such “arc-line” paths have discontinuities at the line-arc-line transition points. The curvature of the path is discontinuous at these points. Finally, a smoother trajectory generation method based on the B-spline algorithm for a planar vehicle is proposed. After designing the reference trajectory, a tracking control rule for vehicles is developed. Stability of the rule is proved through the use of a Lyapunov function. We use the B-spline algorithm to replace the arc-line trajectory. First, designing a continuous trajectory based on the environment information, we get some control points according to the pre-handling information. Then we differentiate the B-spline curve to get the translational and rotational velocity vectors. By the translational and rotational velocity information, we can get the curvatures of the curve. The problem is then to follow the designed path.
In this thesis, we introduce the applications of the Autonomous vehicles and talk about our problems first. Second we introduce the trajectory generation methods and design the controller for the planar vehicle. We also do the simulation results of the algorithms and use Pioneer 3 to do the experiments. After comparing the performances, we summarize the conclusions and future work.
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