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.


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    Titel :

    Cyber-physical System based Cooperative Maneuver Planning for Multiple Tractor-trailer Vehicles in a Cluttered Environment


    Beteiligte:
    Li, Bai (Autor:in) / Zhang, Youmin (Autor:in) / Yue, Ming (Autor:in) / Peng, Xiaoyan (Autor:in) / Zhong, Xiang (Autor:in) / Kong, Qi (Autor:in)


    Erscheinungsdatum :

    2021-05-10


    Format / Umfang :

    1042445 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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