In this thesis improvements, implementation and evaluation have been done on a motion planning algorithm for a full-sized reversing truck and trailer system. The motion planner is based on a motion planning algorithm called Closed-Loop Rapidly-exploring Random Tree (CL-RRT). An important property for a certain class of systems, stating that by selecting the input signals in a certain way the same result as reversing the time can be archived, is also presented. For motion planning this means that the problem of reversing from position A to position B can also be solved by driving forward from B to A and then reverse the solution. The use of this result in the motion planner has been evaluated and has shown to be very useful. The main improvements made on the CL-RRT algorithm are a faster collision detection method, a more efficient way to draw samples and a more correct heuristic cost-to-go function. A post optimizing or smoothing method that brings the system to the exact desired configuration, based on numerical optimal control, has also been developed and implemented with successful results. The motion planner has been implemented and evaluated on a full-scale truck with a dolly steered trailer prepared for autonomous operation with promising results.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Motion Planning for a Reversing Full-Scale Truck and Trailer System


    Beteiligte:
    Holmer, Olov (Autor:in)

    Erscheinungsdatum :

    2016-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Truck and trailer reversing auxiliary device

    LI FENG / ZHOU JIAN / WANG CHAO et al. | Europäisches Patentamt | 2020

    Freier Zugriff


    Trailer Reversing System

    SPARK IAN JAMES | Europäisches Patentamt | 2021

    Freier Zugriff


    Trailer reversing apparatus

    GREGORY SEBASTIAN | Europäisches Patentamt | 2019

    Freier Zugriff