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Lattice-based Motion Planning for a General 2-trailer system
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.
Scania Tech Ctr, Sweden.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0001-6957-2603
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2017 (Engelska)Ingår i: 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), IEEE , 2017, s. 819-824Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning framework for a general 2-trailer system that is resolution complete and resolution optimal. The solution will satisfy both differential and obstacle imposed constraints and is intended either as a part of an autonomous system or as a driver support system to automatically plan complicated maneuvers in backward and forward motion. The proposed framework relies on a precomputing step that is performed offline to generate a finite set of kinematically feasible motion primitives. These motion primitives are then used to create a regular state lattice that can be searched for a solution using standard graph-search algorithms. To make this graph-search problem tractable for real-time applications a novel parametrization of the reachable state space is proposed where each motion primitive moves the system from and to a selected set of circular equilibrium configurations. The approach is evaluated over three different scenarios and impressive real-time performance is achieved.

Ort, förlag, år, upplaga, sidor
IEEE , 2017. s. 819-824
Serie
IEEE Intelligent Vehicles Symposium, ISSN 1931-0587
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
URN: urn:nbn:se:liu:diva-145825DOI: 10.1109/IVS.2017.7995817ISI: 000425212700128ISBN: 978-1-5090-4804-5 OAI: oai:DiVA.org:liu-145825DiVA, id: diva2:1192090
Konferens
28th IEEE Intelligent Vehicles Symposium (IV)
Anmärkning

Funding Agencies|FFI/VINNOVA

Tillgänglig från: 2018-03-21 Skapad: 2018-03-21 Senast uppdaterad: 2018-03-21

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Ljungqvist, OskarEvestedt, NiclasAxehill, DanielHolmer, Olov
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ReglerteknikTekniska fakultetenFordonssystem
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