CUED Publications database

Planning Collision-Free Trajectories for Reversing Multiply-Articulated Vehicles

Rimmer, AJ and Cebon, D (2015) Planning Collision-Free Trajectories for Reversing Multiply-Articulated Vehicles. IEEE Transactions on Intelligent Transportation Systems, 17. pp. 1998-2007.

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© 2016 IEEE.A global path-planning strategy is proposed which defines the geometric path of the rear trailer axle of a multiply-articulated vehicle traveling in reverse. This is intended for use in conjunction with a path-tracking reversing controller. A general multiple-trailer vehicle model is derived and used to model a "B-double" heavy vehicle combination, which has two trailers. The curvature properties of a path for the rear trailer axle are investigated, and an empirical relationship is defined between the curvature and the length over which the curvature changes. This is used to generate a library of feasible path segments, and the vehicle model is used to calculate swept paths. A Dijkstra grid search algorithm is then used to connect the path segments together to generate a collision-free composite path. An example path generation is presented for the B-double.

Item Type: Article
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:39
Last Modified: 18 May 2018 20:18