C. Guarino Lo Bianco, A. Piazzi, and M. Romano
IEEE Intelligent Vehicles Symposium, IV2004, June 14-17, pp. 413-418, 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.