Planning Collision-Free Trajectories for Reversing Multiply-Articulated Vehicles
Rimmer, Amy J
IEEE Transactions on Intelligent Transportation Systems
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Rimmer, A. J., & Cebon, D. (2016). Planning Collision-Free Trajectories for Reversing Multiply-Articulated Vehicles. IEEE Transactions on Intelligent Transportation Systems https://doi.org/10.1109/TITS.2015.2511880
a global path-planning strategy is proposed which defines the geometric path of the rear trailer axle of a multiply-articulated vehicle travelling in reverse. This is intended for use in conjunction with a path-tracking reversing controller. A general, multiple-trailer vehicle model is derived and used to model a ‘B-double’ heavy vehicle combination, which has two trailers. The curvature properties of a path for the rear trailer axle are investigated and an empirical relationship is defined between the curvature and the length over which the curvature changes. This is used to generate a library of feasible path segments and the vehicle model is used to calculate swept paths. A Dijkstra grid search algorithm is then used to connect the path segments together to generate a collision-free composite path. An example path generation is presented for the B-double.
articulated vehicle, path planning, reversing
This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award.
External DOI: https://doi.org/10.1109/TITS.2015.2511880
This record's URL: https://www.repository.cam.ac.uk/handle/1810/253082