This paper presents a navigation system for truck-trailer combinations that enables accurate maneuvering to a target position, either assisted or automated. Functional and collision-free motion is achieved by a combination of laser scanner-based navigation and multimodal motion planning. The navigation system uses laser range data to recognize target objects and calculates corresponding target positions. The grid-based multi-dimensional path planner generates a collision-free minimum-cost trajectory for truck-trailer combinations with up to five degrees of freedom. The multimodal planner decides whether the approach is planned as a single backward motion, as a maneuvering path with reversal points or as a long distance approach using free navigation and virtual tracks. Optimized planning algorithms are used for each case. The complete system has been successfully tested using a combination of a Mercedes-Benz truck and a full trailer under varying environmental conditions. The test application was an assistance system for backward driving under a swap body -a very challenging application due to its strict accuracy requirements. The results promise high benefits for this and further applications.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Stahn, R. (author) / Stark, T. (author) / Stopp, A. (author)


    Publication date :

    2007


    Size :

    6 Seiten, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Lateral dynamics of truck and full trailer combinations

    Nordmark,S. / Nordstroem,O. / Natl.Swed.Road and Traffic Res.Inst.,SE | Automotive engineering | 1977



    On motion planning and control for truck and trailer systems

    Ljungqvist, Oskar | BASE | 2019

    Free access


    Influence of different truck and trailer combinations on the aerodynamic drag

    Martini,H. / Bergqvist,B. / Hjelm,L. et al. | Automotive engineering | 2011