Online dynamic smooth path planning for an articulated vehicle
2013 (English)In: 10th International Conference on Informatics in Control, Automation and Robotics, Reykjavik, Iceland, 29-31, July, 2013, 2013, Vol. 2, 177-183 p.Conference paper (Refereed)
This article proposes a novel online dynamic smooth path planning scheme based on a bug like modified path planning algorithm for an articulated vehicle under limited and sensory reconstructed surrounding static environment. In the general case collision avoidance techniques can be performed by altering the articulated steering angle to drive the front and rear parts of the articulated vehicle away from the obstacles. In the presented approach factors such as the real dynamics of the articulated vehicle, the initial and the goal configuration (displacement and orientation), minimum and total travel distance between the current and the goal points, and the geometry of the operational space are taken under consideration to calculate the update on the future way points for the articulated vehicle. In the sequel the produced path planning is being online and iteratively smoothen by the utilization of Bezier lines before producing the necessary rate of change for the vehicle’s articulated angle. The efficiency of the proposed scheme is being evaluated by multiple simulation studies.
Place, publisher, year, edition, pages
2013. Vol. 2, 177-183 p.
Technology - Electrical engineering, electronics and photonics
Teknikvetenskap - Elektroteknik, elektronik och fotonik
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-31508Local ID: 5b3d57e3-f6b4-4135-b33e-a0d8ac436f29ISBN: 978-989-8565-71-6OAI: oai:DiVA.org:ltu-31508DiVA: diva2:1004742
International Conference on Informatics in Control, Automation and Robotics : 29/07/2013 - 31/07/2013
Godkänd; 2013; 20130404 (geonik)2016-09-302016-09-30Bibliographically approved