Limiting velocity & acceleration commands for dynamic control of a large vehicle

The e ect of changing the input goal coordinates to a real vehicle s position control system is examined here Such inputs provide motoring speed torque sig nals based upon local sensor information and the po sition of the global target with little regard for the vehicle dynamics In this article mobile robot path planning parameters are related to the application of correct general control laws The derivation of desired velocity torque signals which feed a vehicle s speed torque controller and conform to the velocity and acceleration limits of the vehicle is presented A trajectory planner which produces correct displace ment velocity and acceleration pro les as a function of time is derived These trajectories drive the vehi cle to its target while always keeping within the de ned safe operating acceleration velocity limits