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Summary & Details

Efficient Trajectory Planning for Tractor-Trailer Vehicles with an Incremental Optimization Solving Algorithm

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Format: PDF

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Paper/Info type: SAE Paper

No.2022-01-0138

Pages: 1-8(Total 8 p)

Date of publication: Mar 2022

Publisher: SAE International

Language: English

Event: WCX SAE World Congress Experience 2022

Detailed Information

Author(E)	1) Xinyao Ruan, 2) Zhuoping Yu, 3) Lu Xiong, 4) Zhiqiang Fu, 5) Zhuoren Li
Affiliation(E)	1) Tongji University, 2) Tongji University, 3) Tongji University, 4) Tongji University, 5) Tongji University
Abstract(E)	A tractor-trailer vehicle (TTV) consists of an actuated tractor attached with several full trailers. Because of its nonlinear and noncompleted constraints, it is a challenging task to avoid collisions for path planner. In this paper, we propose an efficient method to plan an optimal trajectory for TTV to reach the destination without any collision. To deal with the complicated constraints, the trajectory planning problem is formulated as an optimal control problem uniformly, which can be solved by the interior point method. A novel incremental optimization solving algorithm (IOSA) is proposed to accelerate the optimization process, which makes the number of trailers and the size of obstacles increase asynchronously. Simulation experiments are carried out in two scenarios with static obstacles. Compared with other methods, the results show that the planning method with IOSA outperforms in the efficiency.

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