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
Extension of Trajectory Planning in Parameterized Spaces to Articulated Vehicles
Chalmers University of Technology, Göteborg, Sweden.ORCID-id: 0000-0003-3692-0688
Högskolan i Halmstad, Akademin för informationsteknologi.
2017 (engelsk)Inngår i: Proceedings of the 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2017Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The main objective of this research is to study a novel method for safe maneuvering of articulated vehicles in warehouses. The presented method extends the concept of probabilistic planning on manifolds to articulated vehicles, which will be capable of driving, maneuvering and performing obstacle avoidance in any scenario. The proposed technique involves the extension of a parameterized space, developed for the reactive navigation of differential driven vehicles, to include an additional degree of freedom and use a probabilistic planner to calculate kinematically feasible trajectories. As a result, the algorithm is able to successfully generate maneuvers for an articulated truck and to navigate towards specific target points. The approach was validated using three problems representing different driving scenarios, demonstrating the possible utilization of the method in real-case scenarios. The solutions have been further benchmarked on multiple runs to evaluate success rate and to demonstrate the validity of the algorithm.

sted, utgiver, år, opplag, sider
Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2017.
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-34852DOI: 10.1109/ETFA.2017.8247633ISI: 000427812000068Scopus ID: 2-s2.0-85044445925ISBN: 978-1-5090-6505-9 (digital)ISBN: 978-1-5090-6504-2 (digital)ISBN: 978-1-5090-6506-6 (tryckt)OAI: oai:DiVA.org:hh-34852DiVA, id: diva2:1137735
Konferanse
22nd IEEE International Conference on Emerging Technologies And Factory Automation (ETFA'2017), September 12-15, 2017, Limassol, Cyprus
Prosjekter
ANTWaY
Forskningsfinansiär
VINNOVA, 2014-01399Tilgjengelig fra: 2017-09-01 Laget: 2017-09-01 Sist oppdatert: 2019-01-14bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekstScopus

Søk i DiVA

Av forfatter/redaktør
Bellone, Mauro
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 295 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