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Deterministic Path Planning for Non-Holonomic Vehicles Including Friction and Steer Rate Limitations
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för systemteknik, Fordonssystem. Linköpings universitet, Tekniska fakulteten.
2017 (Engelska)Ingår i: 2017 IEEE INTERNATIONAL CONFERENCE ON VEHICULAR ELECTRONICS AND SAFETY (ICVES), IEEE , 2017Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Path planning algorithms have evolved during decades to become computationally less expensive and optimal. In this paper a deterministic approach is used to find a path near to the shortest path using motion primitives. The motion primitives are constructed using a non-holonomic vehicle model. The physical model enables the algorithm to use a friction map and calculate paths with lower lateral slip forces. Furthermore the algorithm takes into account the steer rate using steer angles assigned for motion primitives. The algorithm is an A* based search method along with a heuristic to find a near optimal solution. The performance and calculation time of the algorithm is tunable by adjusting motion primitive size and discretization steps. In order to compare the algorithm output to optimal solution a direct multiple shooting method is used. The algorithm is simulated in different scenarios that shows the properties of the algorithm. The results attained from search method is compared with optimal solution in two different test scenarios and the comparison shows consistency of search method to the optimal solution.

Ort, förlag, år, upplaga, sidor
IEEE , 2017.
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:liu:diva-147468DOI: 10.1109/ICVES.2017.7991892ISI: 000428368400001ISBN: 978-1-5090-5677-4 (tryckt)OAI: oai:DiVA.org:liu-147468DiVA, id: diva2:1205859
Konferens
IEEE International Conference on Vehicular Electronics and Safety (ICVES)
Tillgänglig från: 2018-05-15 Skapad: 2018-05-15 Senast uppdaterad: 2018-05-15

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Morsali, MahdiMohseni, FatemehFrisk, Erik
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FordonssystemTekniska fakulteten
Robotteknik och automation

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