ITERATIVE GENERATION OF SMOOTH MANEUVERS FOR ARTICULATED VEHICLES

摘要

In recent years, a considerable effort has been made to developrnefficient concepts of motion planning. In many cases,rnthe main focus is restricted to special robots or vehiclesrnwith simple kinematic properties such as car-like robots.rnBased on the complex motion of a trailer, these approachesrncan typically not be applied or adapted to standard vehicles,rne.g. trucks with one-axle trailer. However, from anrneconomic point of view, there is a significant demand forrnan automation of transport activities that are accomplishedrnboth by standard vehicles and on closed factory premises.rnIn this paper, we present an enhancement of a maneuverbasedrnplanning concept that is extended by an iterativernmethod to generate smooth maneuvers. These maneuversrninclude a corresponding path segment and a plane-shapedrnabstraction of the corridor segment that is allocated by thernvehicle during the maneuver. Individual maneuvers can bernconcatenated to provide complete motion plans. Since arnpath is approximately smooth, high precision is guaranteedrnand no intermediate stops are required to change the steeringrnangle of the vehicle.