Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning framework for a general 2-trailer system that is resolution complete and resolution optimal. The solution will satisfy both differential and obstacle imposed constraints and is intended either as a part of an autonomous system or as a driver support system to automatically plan complicated maneuvers in backward and forward motion. The proposed framework relies on a precomputing step that is performed offline to generate a finite set of kinematically feasible motion primitives. These motion primitives are then used to create a regular state lattice that can be searched for a solution using standard graph-search algorithms. To make this graph-search problem tractable for real-time applications a novel parametrization of the reachable state space is proposed where each motion primitive moves the system from and to a selected set of circular equilibrium configurations. The approach is evaluated over three different scenarios and impressive real-time performance is achieved.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lattice-based motion planning for a general 2-trailer system


    Contributors:


    Publication date :

    2017-06-01


    Size :

    707111 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT

    Evestedt, Niclas / Ljungqvist, Oskar / Axehill, Daniel | BASE | 2016

    Free access

    SYSTEM AND METHOD FOR MOTION AND PATH PLANNING FOR TRAILER-BASED VEHICLE

    WANG YEBIN / LEU JESSICA / ZHENG DONGLIANG | European Patent Office | 2023

    Free access

    System and Method for Motion and Path Planning for Trailer-Based Vehicle

    WANG YEBIN / LEU JESSICA / ZHENG DONGLIANG | European Patent Office | 2023

    Free access


    Laser scanner-based navigation and motion planning for truck-trailer combinations

    Stahn, R. / Stark, T. / Stopp, A. | Tema Archive | 2007