Constrained dynamic path planning for a tractor and semi-trailer vehicle
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
The aim for this project is to design and implement a dynamic path planningmethod for a tractor and semi-trailer vehicle. This vehicle will be in environmentwhich is simulated as a harbour, where containers and other autonomously guidedvehicles are represented as possible objects. Various physical limitations of thevehicle are taken into consideration.
For this purpose, a simulator is built, where the environment is reproduced.During the simulation, the vehicle should drive towards the goal avoiding contain-ers and other vehicles, which are sensed by a detection and tracking system. Also,a case study is provided where the functionality of the proposed solution is shownin a given environment.
Based on the results of the project, the vehicle computes and follows a tra-jectory towards the goal until a collision is predicted. A new alternative path iscalculated then in order to avoid the obstacle.
Place, publisher, year, edition, pages
2015. , 63 p.
path, planning, tractor, semi-trailer, vehicle, dynamic, contrained
IdentifiersURN: urn:nbn:se:hh:diva-28655OAI: oai:DiVA.org:hh-28655DiVA: diva2:823804
Subject / course
Computer science and engineering
2015-06-03, Wigforssalen, Högskolan i Halmstad, Halmstad, 16:20 (English)
Nowaczyk, Slawomir, LecturerCarpatorea, Iulian, PhDDavid, Jennifer, PhD
Verikas, Antanas, Professor