hh.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Local Path Optimizer for an Autonomous Truck in a Harbour Scenario
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0001-6119-6615
Carnegie Mellon University, Pittsburgh, USA.
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0003-3513-8854
Massachusetts Institute of Technology, Cambridge, USA.
2017 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Recently, functional gradient algorithms like CHOMP have been very successful in producing locally optimal motion plans for articulated robots. In this paper, we have adapted CHOMP to work with a non-holonomic vehicle such as an autonomous truck with a single trailer and a differential drive robot. An extended CHOMP with rolling constraints have been implemented on both of these setup which yielded feasible curvatures. This paper details the experimental integration of the extended CHOMP motion planner with the sensor fusion and control system of an autonomous Volvo FH-16 truck. It also explains the experiments conducted on the differential-drive robot. Initial experimental investigations and results conducted in a real-world environment show that CHOMP can produce smooth and collision-free trajectories for mobile robots and vehicles as well. In conclusion, this paper discusses the feasibility of employing CHOMP to mobile robots.

sted, utgiver, år, opplag, sider
2017.
Emneord [en]
robotics
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-34850OAI: oai:DiVA.org:hh-34850DiVA, id: diva2:1137701
Konferanse
11th Conference on Field and Service Robotics (FSR), Zürich, Switzerland, 12-15 September, 2017
Prosjekter
Cargo-ANTs
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, FP7-605598Tilgjengelig fra: 2017-08-31 Laget: 2017-08-31 Sist oppdatert: 2019-01-29bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Full text

Personposter BETA

David, JenniferValencia, RafaelPhilippsen, RolandIagnemma, Karl

Søk i DiVA

Av forfatter/redaktør
David, JenniferValencia, RafaelPhilippsen, RolandIagnemma, Karl
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric

urn-nbn
Totalt: 253 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf