Tractor-trailer systems (TTSs) have been adopted in the logistics and transportation domain owing to their vast cargo capacity. Trajectory planning plays an important role in autonomous TTS driving, where existing predominant planners are usually based on graph search and sampling. However, such prevailing planners face the difficulties of poor real-time performance, due to the unique underactuated characteristic and complex kinematic constraints of TTS. Based on TTS motion characteristics and its application environment, this paper proposes a hybrid A* - jump point search (HA-JPS) planner, in which JPS improves the real-time performance, while hybrid A* provides the guarantee of kinematic constraints. Several TTS configures and typical environments were constructed to test the planning efficiency, trajectory feasibility, and completeness of HA-JPS. Comparative simulation experiment results illustrate that HA-JPS can improve real-time performance by more than 50% in different scenarios without loss of completeness.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Environmental and Behavioral-oriented Search-based Trajectory Planning Approach for Tractor-trailer System in Narrow Environment


    Beteiligte:
    Li, Daiwei (Autor:in) / Gao, Liang (Autor:in) / Jia, Bobo (Autor:in) / Yang, Yi (Autor:in) / Fu, Mengyin (Autor:in) / Xie, Shanshan (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    2014068 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Path Planning for Tractor-Trailer System

    Wang, Xinwei / Liu, Jie / Peng, Haijun | Springer Verlag | 2020


    Sensing system of trailer tractor and trailer tractor

    ZHAO WEI / JIANG XIN / WANG XINZHU et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Tractor trailer hydraulic system and tractor

    YI XIAOLONG / YANG XUJIE / WANG QINGHONG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Robust trajectory tracking for a reversing tractor trailer

    Pradalier, C. / Usher, K. | British Library Online Contents | 2008