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Motion Planning for Parking a Truck and Trailer System
KTH, School of Electrical Engineering and Computer Science (EECS).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Banplanering för parkering av lastbil med släpvagn (Swedish)
Abstract [en]

Motion planning for autonomous heavy vehicles has been an intensively studied topic during the last years. In particular, real-world applicable motion planning schemes for truck-trailer systems have emerged and several continuous-curvature local planners for nonholonomic vehicles have been conceived. In this thesis, it has been studied whether it is possible to combine these results in nonholonomic motion planning to improve the efficiency of the current planning methods when planning paths for parking single-trailer truck-trailer systems in spatially constrained environments. As a part of this undertaking, a local planner for single-trailer truck-trailer systems has been developed and a comparison of the performance of different distance functions used within an RRT-planner has been made. The resulting planner was evaluated in environments with narrow passages and tight parking spaces present and the results show that the performance of the current state-of-the-art RRT-based planning methods for articulated systems can be improved in cramped environments by adding an exact local planner. Furthermore, it was discovered that heuristic lookup tables are superior to other distance functions when used within the nearest neighbor search of an RRT-based motion planning algorithm for truck-trailer systems.

Abstract [sv]

Banplanering för autonoma lastbilar har varit ett ämne som studerats intensivt under de senaste åren. Mer specifikt har banplaneringslösningar för lastbil-släpvagnssystem utvecklats och ett flertal lokala planerare som producerar banor med kontinuerlig krökning har tagits fram. I det här examensarbetet har det undersökts om det är möjligt att kombinera dessa resultat inom icke-holonom banplanering för att förbättra prestandan hos de existerande banplaneringsmetoderna när en parkeringsmanöver för en lastbil med släpvagn ska planeras i ett trångt parkeringsutrymme. Som en del av arbetet med att undersöka detta togs en lokal planerare för enaxliga släpvagnssystem fram och det genomfördes även en undersökning av hur RRT-planerarens prestanda påverkas av vilken distansfunktion som valts. Den resulterande banplaneraren har testats på planeringsproblem innehållandes smala passager samt trånga parkeringsplatser och resultaten visar att prestandan hos de bästa inom litteraturen kända RRT-planeringsalgoritmerna för fordon med släpvagnar kan förbättras i trånga miljöer genom tillägg av en exakt lokal planerare. Dessutom framkom det att uppslagstabellsbaserade avståndsfunktioner leder till bättre prestanda än andra avståndsfunktioner när dessa används inom en RRT-planerares närmaste-granne-sökning.

Place, publisher, year, edition, pages
2019. , p. 62
Series
TRITA-EECS-EX ; 2019:609
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-264501OAI: oai:DiVA.org:kth-264501DiVA, id: diva2:1373830
External cooperation
MAN Truck and Bus SE
Educational program
Master of Science in Engineering -Engineering Physics
Supervisors
Examiners
Available from: 2019-11-28 Created: 2019-11-28

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CiteExportLink to record
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