Tractor-trailer vehicles are commonly deployed in a logistics scenario. Cooperative maneuver planning focuses on the situation that multiple tractor-trailer vehicles work in the same warehouse. The existing sample-and-search-based or numerical-optimization-based planners suitable for a single rigid-body vehicle cannot deal with multiple multi-body vehicles because of the complex vehicle kinematics and the intractably scaled inter-vehicle collision-avoidance constraints. This paper formulates the cooperative maneuver planning scheme as a centralized optimal control problem (OCP) and introduces the Adaptive-Scaling Constrained Optimization (ASCO) method to deal with the intractable OCP in a tractable way. Simulation results show the efficacy of the proposed method.
Cyber-physical System based Cooperative Maneuver Planning for Multiple Tractor-trailer Vehicles in a Cluttered Environment
2021-05-10
1042445 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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