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Extension of Trajectory Planning in  Parameterized Spaces to Articulated Vehicles
Chalmers University of Technology, Göteborg, Sweden.ORCID iD: 0000-0003-3692-0688
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
2017 (English)In: Proceedings of the 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, 2017Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2017.
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-34852OAI: oai:DiVA.org:hh-34852DiVA: diva2:1137735
Conference
22nd IEEE International Conference on Emerging Technologies And Factory Automation (ETFA'2017), September 12-15, 2017, Limassol, Cyprus
Projects
ANTWaY
Funder
VINNOVA, 2014-01399
Available from: 2017-09-01 Created: 2017-09-01 Last updated: 2017-09-06

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