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dc.contributor.authorRimmer, Amy Jen
dc.contributor.authorCebon, Daviden
dc.date.accessioned2015-12-21T16:38:33Z
dc.date.available2015-12-21T16:38:33Z
dc.date.issued2016-03-03en
dc.identifier.citationRimmer & Cebon. IEEE Transactions on Intelligent Transportation Systems (2016). doi: 10.1109/TITS.2015.2511880en
dc.identifier.issn1524-9050
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/253082
dc.description.abstracta 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.
dc.description.sponsorshipThis research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award.
dc.languageEnglishen
dc.language.isoenen
dc.publisherIEEE
dc.subjectarticulated vehicleen
dc.subjectpath planningen
dc.subjectreversingen
dc.titlePlanning Collision-Free Trajectories for Reversing Multiply-Articulated Vehiclesen
dc.typeArticle
dc.description.versionThis is the author accepted manuscript. The final version is available from IEEE via http://dx.doi.org/10.1109/TITS.2015.2511880en
prism.publicationDate2016en
prism.publicationNameIEEE Transactions on Intelligent Transportation Systemsen
dc.rioxxterms.funderEPSRC
dcterms.dateAccepted2015-12-10en
rioxxterms.versionofrecord10.1109/TITS.2015.2511880en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2016-03-03en
dc.contributor.orcidCebon, David [0000-0003-2828-6445]
dc.identifier.eissn1558-0016
rioxxterms.typeJournal Article/Reviewen


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