Heavy duty vehicle are open-loop unstable while reversing owing to their unusual articulated construction, while vertical parking in tighter surroundings is sometimes quite problematic due to their lengthy wheelbase and significant non-holonomic dynamics. This paper theoretically analyzes the difference brought by the nonholonomic constraints for the heavy duty vehicle model, and precisely portrays the physical and related environmental constraints of the vehicle; Considering the jackknife phenomenon brought by the unique articulation characteristics of the heavy duty vehicle, the hitch angle of the vehicle in reverse is restricted with the objective of time optimality, and the state space is carried out without compromising the quality of the local optimal solution substantial pruning; A finite-dimensional nonlinear programming(NLP) is constructed for vertical parking of heavy duty vehicles with an accurate obstacle avoidance strategy and an optimal nonholonomic dynamics, boundary and path constrained discretization scheme based on Chebyshev's pseudospectral method; Matlab is used to solve the NLP problem, and the final simulation results show that: the vertical parking trajectory planning for heavy duty vehicle in narrower aisles is done accurately and less time-consumingly in a unified framework without relying on search and sampling methods.
Time Optimal Trajectory Optimization for Vertical Parking of Heavy Duty Vehicle based on Chebyshev Pseudospectral Method
28.10.2022
1448391 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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