liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Sampling Recovery for Closed Loop Rapidly Expanding Random Tree using Brake Profile Regeneration
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
Research and Development, Scania CV AB, Södertälje, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2015 (English)In: Intelligent Vehicles Symposium (IV), 2015 IEEE, IEEE , 2015, 101-106 p.Conference paper (Refereed)
Abstract [en]

In this paper an extension to the sampling based motion planning framework CL-RRT is presented. The framework uses a system model and a stabilizing controller to sample the perceived environment and build a tree of possible trajectories that are evaluated for execution. Complex system models and constraints are easily handled by a forward simulation making the framework widely applicable. To increase operational safety we propose a sampling recovery scheme that performs a deterministic brake profile regeneration using collision information from the forward simulation. This greatly increases the number of safe trajectories and also reduces the number of samples that produce infeasible results. We apply the framework to a Scania G480 mining truck and evaluate the algorithm in a simple yet challenging obstacle course and show that our approach greatly increases the number of feasible paths available for execution.

Place, publisher, year, edition, pages
IEEE , 2015. 101-106 p.
Series
, IEEE Intelligent Vehicles Symposium, ISSN 1931-0587
Keyword [en]
RRT, Autonomous vehicles, motion planning
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-120929DOI: 10.1109/IVS.2015.7225670ISI: 000380565800018ISBN: 9781467372664OAI: oai:DiVA.org:liu-120929DiVA: diva2:849916
Conference
2015 IEEE Intelligent Vehicles Symposium (IV), June 28 - July 1, 2015. COEX, Seoul, Korea
Projects
iQMatic
Available from: 2015-08-31 Created: 2015-08-31 Last updated: 2016-09-19Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Evestedt, NiclasAxehill, DanielGustafsson, Fredrik
By organisation
Automatic ControlFaculty of Science & Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 289 hits
ReferencesLink to record
Permanent link

Direct link