Efficient Trajectory Planning for Tractor-Trailer Vehicles with an Incremental Optimization Solving Algorithm
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- 版元よりダウンロードリンクを連絡
- 形態
- 価格
- 一般価格(税込)：￥6,600 会員価格(税込)：￥5,280
- 文献・情報種別
- SAE Paper
No.2022-01-0138
- 掲載ページ
- 1-8(Total 8 p)
- 発行年月
- 2022年 3月
- 出版社
- SAE International
- 言語
- 英語
- イベント
- WCX SAE World Congress Experience 2022
書誌事項
| 著者（英） | 1) Xinyao Ruan, 2) Zhuoping Yu, 3) Lu Xiong, 4) Zhiqiang Fu, 5) Zhuoren Li |
|---|---|
| 勤務先（英） | 1) Tongji University, 2) Tongji University, 3) Tongji University, 4) Tongji University, 5) Tongji University |
| 抄録（英） | 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. 翻訳 |
