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Impact of model accuracy on the performance of an optimization-based path planning algorithm for an articulated vehicle
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Inverkan av modellnoggrannhet på en optimeringsbaserad vägplaneringsalgoritm för midjestyrda fordon (Swedish)
Abstract [en]

This thesis presents a study on how the accuracy of vehicle kinematic models can affect the performance of an optimization-based path planner. A bicycle model and an articulated machine model are chosen to be different accurate levels of modelling. The path planner generates a final path in two steps. First a coarse path is obtained by an adapted A* algorithm as an initial guess, then the final smooth collision-free path is generated by a nonlinear optimization algorithm according to the initial guess and the selected vehicle model.

The differences regarding path length, success rate and computation time between these two models are compared in this thesis. The generated paths are further used in real tests as reference paths of an autonomous articulated hauler. The performance of different models is evaluated by the lateral error and the heading error. The findings suggest that for the articulated hauler, the articulated machine model provides a more accurate and more realistic path, yet in some cases, it can be replaced by the bicycle model that has better time efficiency in computation while maintaining the performance of the generated path.

Abstract [sv]

Detta examensarbete presenterar en studie av hur valet av fordonsmodell påverkar prestanda hos en optimeringsbaserad vägplaneringsalgoritm, vid planering för en ramstyrd dumper. En traditionell kinematisk cykelmodell och en mer komplex kinematisk ramstyrd modell studeras. Vägplaneringsalgoritmen genererar en plan i två steg. Först genereras en approximativ plan med hjälp av en modifierad A*-algoritm. Därefter används den approximativa lösningen som initialgissning för en ickelinjär optimeringsprocedur, vilken genererar en optimal lösning.

Planeringsprestanda så som väglängd och beräkningstid jämförs mellan de två modellerna, och resultat från fullskaliga experiment presenteras. Modellernas prestanda utvärderas med avseende på magnituden av reglerfelet i lateralt avstånd och orientering från den planerade vägen, när dumpern körs autonomt med befintlig regulator. Reslutaten indikerar att den ramstyrda modellen ger högre precision och en mer realistisk plan, men i vissa körfall ger cykelmodellen lika bra precision, till en lägre beräkningskostnad.

Place, publisher, year, edition, pages
2019. , p. 62
Series
TRITA-ITM-EX ; 2019:510
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-263750OAI: oai:DiVA.org:kth-263750DiVA, id: diva2:1369456
External cooperation
Volvo Construction Equipment
Supervisors
Examiners
Available from: 2019-11-12 Created: 2019-11-12 Last updated: 2019-11-12Bibliographically approved

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CiteExportLink to record
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