A Comprehensive Trajectory Planner for a Person-Following ATV
Huckleberry Febbo,Jiawei Huang,David Isele,Huckleberry Febbo,Jiawei Huang,David Isele
This paper presents a trajectory planning algorithm for person following that is more comprehensive than existing algorithms. This algorithm is tailored for a front-wheel-steered vehicle, is designed to follow a person while avoiding collisions with both static and moving obstacles, simultaneously optimizing speed and steering, and minimizing control effort. This algorithm uses nonlinear model pre...
