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Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-6957-2603
2016 (English)In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 3690-3697Conference paper, Published paper (Refereed)
Abstract [en]

Reversing with a dolly steered trailer configura- tion is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2- trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure pursuit path tracker is used on a higher level giving a cascaded controller that can track piecewise linear reference paths. This controller together with a kinematic model of the trailer configuration is then used for forward simulations within a Closed-Loop Rapidly Exploring Random Tree framework to generate motion plans that are not only kinematically feasible but also include the limitations of the controller’s tracking performance when reversing. The approach is evaluated over a series of Monte Carlo simulations on three different scenarios and impressive success rates are achieved. Finally the approach is successfully tested on a small scale test platform where the motion plan is calculated and then sent to the platform for execution. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 3690-3697
Series
Intelligent Robots and Systems, E-ISSN 2153-0866 ; 2016
National Category
Robotics Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-134035DOI: 10.1109/IROS.2016.7759544ISI: 000391921703107ISBN: 9781509037629 (electronic)ISBN: 9781509037612 (electronic)ISBN: 9781509037636 (print)OAI: oai:DiVA.org:liu-134035DiVA, id: diva2:1066727
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, October 9-14, 2016
Projects
iQMatic
Note

Funding agencies: FFI/VINNOVA

Available from: 2017-01-19 Created: 2017-01-19 Last updated: 2017-03-06Bibliographically approved

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Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT(1676 kB)136 downloads
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Evestedt, NiclasLjungqvist, OskarAxehill, Daniel
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • Other style
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Language
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  • en-US
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  • nn-NB
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Output format
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