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Planning smooth and obstacle-avoiding b-spline paths for autonomous mining vehicles
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.
Luleå tekniska universitet.
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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
Abstract [en]

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.
National Category
Computational Mathematics Computer Sciences
Research subject
Scientific Computing; Dependable Communication and Computation Systems
Identifiers
URN: urn:nbn:se:ltu:diva-5437DOI: 10.1109/TASE.2009.2015886Local ID: 38ae9f20-38bf-11dd-8721-000ea68e967bOAI: oai:DiVA.org:ltu-5437DiVA: diva2:978311
Note
Validerad; 2010; Bibliografisk uppgift: Paper id:: T-ASE-2008-162; 20080612 (tb)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-11-24Bibliographically approved

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Berglund, TomasBrodnik, AndrejJonsson, HåkanSöderkvist, Inge
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