Planning smooth and obstacle-avoiding b-spline paths for autonomous mining vehicles
2010 (English)In: IEEE Transactions on Automation Science and Engineering, ISSN 1545-5955, E-ISSN 1558-3783, Vol. 7, no 1, 167-172 p.Article in journal (Refereed) Published
We study the problem of automatic generation of smooth and obstacle-avoiding planar paths for efficient guidance of autonomous mining vehicles. Fast traversal of a path is of special interest. We consider four-wheel four-gear articulated vehicles and assume that we have an a priori knowledge of the mine wall environment in the form of polygonal chains. Computing quartic uniform B-spline curves, minimizing curvature variation, staying at least at a proposed safety margin distance from the mine walls, we plan high speed paths.
Place, publisher, year, edition, pages
2010. Vol. 7, no 1, 167-172 p.
Research subject Scientific Computing; Dependable Communication and Computation Systems
IdentifiersURN: urn:nbn:se:ltu:diva-5437DOI: 10.1109/TASE.2009.2015886Local ID: 38ae9f20-38bf-11dd-8721-000ea68e967bOAI: oai:DiVA.org:ltu-5437DiVA: diva2:978311
Validerad; 2010; Bibliografisk uppgift: Paper id:: T-ASE-2008-162; 20080612 (tb)2016-09-292016-09-29Bibliographically approved