Showing papers by "Yasmina Bestaoui published in 2001"

Some insights in path planning of small autonomous blimps

Abstract: A blimp is a small airship that has no metal framework and collapses when deflated In the first part of this paper, kinematics and dynamics modelling of small autonomous non rigid airships is presented Euler angles and parameters are used in the formulation of this model In the second part of the paper, path planning is introduced using helices with vertical axes Motion generation for trim trajectories (helices with constant curvature and torsion) is presented Then path planning using helices with quadratic curvature and torsion is described, and motion generation on these helices expressed This motion generation takes into account the dynamics model presented in the first part Key-words: Autonomous Airship, path planning, motion generation, Under-actuated systems

An adaptive control method of automated vehicles with integrated longitudinal and lateral dynamics in road following

Abstract: This paper proposes an adaptive control using the integrated longitudinal and lateral dynamics models of automated vehicles. Dynamics are described by a nonlinear nonholonomic model. We show that the dynamics of the DC-actuated vehicle is asymptotically stable, with well updated dynamic parameters.