Name
Abstract | ||
|---|---|---|
This paper presents a novel solution for online trajectory planning of a full-size tractor-trailers vehicle composed of a car-like tractor and arbitrary number of passive full trailers. The motion planning problem for such systems was rarely addressed due to the complex nonlinear dynamics. A simulation-based prediction method is proposed to easily handle the complicated nonlinear dynamics and efficiently generate the obstacle-free and dynamically feasible trajectories. The vehicle dynamics model and a two-layer controller are used in the prediction. Implementation results on the real-world full-size industrial tractor-trailers vehicle are presented to validate the performance of the proposed methods. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9196656 | ICRA |
DocType | Volume | Issue |
Conference | 2020 | 1 |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hongchao Zhao | 1 | 4 | 3.13 |
| Wen Chen | 2 | 19 | 4.07 |
| Shunbo Zhou | 3 | 23 | 5.83 |
| Zhe Liu | 4 | 59 | 13.40 |
| Fan Zheng | 5 | 0 | 0.34 |
| Liu YH | 6 | 1540 | 185.05 |