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Local Path Optimizer for an Autonomous Truck in a Harbour Scenario
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0001-6119-6615
Carnegie Mellon University, Pittsburgh, USA.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0003-3513-8854
Massachusetts Institute of Technology, Cambridge, USA.
2017 (English)Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2017.
Keyword [en]
robotics
National Category
Robotics Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-34850OAI: oai:DiVA.org:hh-34850DiVA: diva2:1137701
Conference
11th Conference on Field and Service Robotics (FSR), Zürich, Switzerland, 12-15 September, 2017
Projects
Cargo-ANTs
Funder
EU, FP7, Seventh Framework Programme, FP7-605598
Available from: 2017-08-31 Created: 2017-08-31 Last updated: 2017-09-04Bibliographically approved

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fulltext(5910 kB)235 downloads
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David, JenniferPhilippsen, Roland

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf