In this article, the trajectory generation and motion control of autonomous driving oversized cargo cooperative transportation systems (CTS) in static but bounded environment is investigated. Different from common vehicle systems, the challenges lie on the safety-guaranteed cooperation of independently controlled carriers with inherent connections brought by the rigid payload, which results in complex system dynamics and multiple time-variant uncertainties. A constraint-oriented “leader-follower” modeling and control framework is introduced, and a trajectory generation method based on the diffeomorphism is creatively proposed to generate closed-form collision-free trajectory for the payload in the bounded environment. To achieve safety-guaranteed trajectory following under uncertainties, a transformed adaptive robust control strategy (TARC) is designed through constraint relaxation, and the coordination of the carriers is realized. An implementation with comprehensive ablation studies demonstrates the effectiveness of our trajectory generation and tracking control framework. The collision-free trajectory set is efficiently generated, and the CTS can be kept strictly inside the safe corridor with high tracking accuracy, which is extremely hard for the baseline methods.
Safety-Guaranteed Oversized Cargo Cooperative Transportation With Closed-Form Collision-Free Trajectory Generation and Tracking Control
IEEE Transactions on Intelligent Transportation Systems ; 25 , 12 ; 20162-20174
01.12.2024
3755270 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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