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Journal Articles Acta Cybernetica Year : 2021

Validated Trajectory Tracking using Flatness


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.

Dates and versions

hal-03430397 , version 1 (16-11-2021)



Julien Alexandre Dit Sandretto, Olivier Mullier. Validated Trajectory Tracking using Flatness. Acta Cybernetica, 2021, 25 (1), pp.85-99. ⟨10.14232/actacyb.285729⟩. ⟨hal-03430397⟩
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