01322nab a2200241 i 4500 acta73081 20230221093052.0 210719s2021 hu o 0|| eng d 0324-721X 10.14232/actacyb.285729 doi SZTE Egyetemi Kiadványok Repozitórium hun eng Mullier Olivier Validated trajectory tracking using flatness [elektronikus dokumentum] / Mullier Olivier University of Szeged, Institute of Informatics Szeged 2021 85-99 Acta cybernetica 25 No. 1 The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This computation is performed using the differential flatness of many dynamical systems. The method is illustrated in the case of the Dubins car. Természettudományok Számítás- és információtudomány Kibernetika, Dinamikus rendszer Alexandre dit Sandretto Julien aut http://acta.bibl.u-szeged.hu/73081/1/cybernetica_025_numb_001_085-099.pdf Dokumentum-elérés