Vehicle Reference Generator for Collision-free Paths

  • Tarek Kabbani
  • Cuauhtemoc Acosta LúaEmail author
  • Stefano Di Gennaro
Regular Papers Robot and Applications


This paper presents a reference generator for ground vehicles. The generated trajectories avoid collisions with obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields are adapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensure the tracking of the accident-free reference. The performance of the proposed generator-based controller is tested on a simulated road scenario.


Active vehicle control autonomous driving collision-free trajectory dynamic controller potential fields reference generator vehicle dynamics 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Tarek Kabbani
    • 1
  • Cuauhtemoc Acosta Lúa
    • 2
    Email author
  • Stefano Di Gennaro
    • 1
  1. 1.Department of Information Engineering, Computer Science and Mathematics (DISIM); they are also with the Center of Excellence DEWS, University of L’Aquila, Via VetoioLoc. CoppitoL’AquilaItaly
  2. 2.Centro Universitario de la CiénegaUniversidad de GuadalajaraJaliscoMexico

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