Optimization-based on-road path planning for articulated vehicles

作     者：Oliveira, Rui Ljungqvist, Oskar Lima, Pedro F. Wahlberg, Bo 

作者机构：Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Division of Automatic Control Linköping University Linköping Sweden Scania CV Autonomous Transport Solutions Södertälje Sweden 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2020年

核心收录：

主　　题：Motion planning 

摘      要：Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle’s bodies may exceed its assigned drive lane, resulting in an increased risk of collision with surrounding traffic. In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer. To this end, we model the tractor-trailer vehicle in a road-aligned coordinate frame suited for on-road planning. Based on driving heuristics, a set of different optimization objectives is proposed, with the overall goal of designing a path planner that computes paths which minimize the off-track of the vehicle bodies swept area, while remaining on the road and avoiding collision with obstacles. The proposed optimization-based path-planning algorithm, together with the different optimization objectives, is evaluated and analyzed in simulations on a set of complicated and practically relevant on-road planning scenarios using the most challenging tractor-trailer dimensions. Copyright © 2020, The Authors. All rights reserved.