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The paper addresses a velocity planning problem for autonomous vehicles. Appropriate bounds on velocities and accelerations have to be considered in order to avoid wheels skidding and actuators saturation. Planned profiles fulfill an assigned travelling time, while longitudinal jerk is minimized in order to increase the motion smoothness. In the paper it is shown that the velocity planning problem...
The paper deals with the generation of smooth paths for the inversion-based motion control of wheeled mobile robots. A new path primitive, called eta3-spline, is proposed. It is a seventh order polynomial spline which permits the interpolation of an arbitrary sequence of points with associated arbitrary tangent directions, curvatures, and curvature derivatives, so that an overall G3-path is planned...
This paper presents the current status of the research effort on autonomous proximity-navigation and spacecraft docking, which is on-going at the Spacecraft Servicing and Robotics Laboratory of the Naval Postgraduate School. An experimental test-bed has been designed and is in the advance integration phase, which can be used for validating analytical and numerical results regarding dynamic models...
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