Nonlinear Motion Control and Trajectory Planning for a Car-like Autonomous Vehicle with Nonholonomic and State Constraints

This paper addresses the nonlinear motion control and trajectory planning problems for a car-like autonomous vehicle with nonholonomy and state constraints. Compared with the existing works regarding the nonholonomic car-like autonomous vehicles, the state constraint is highlighted in this study for both nonlinear trajectory planning and motion control. First, a nonlinear tracking control law under the state constraint is achieved by taking advantage of the dynamic feedback linearization technique. It is shown that the well-known dynamic feedback linearization technique can be applied to the car-like autonomous vehicle with the constrained state by using a change of coordinates and input transformation. The corresponding results are established in this paper. Second, an explicit trajectory planning scheme is exploited to deal with the nonlinear motion control, in particular parking con

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