This paper describes a method to automatically generate optimal, collision-free maneuvers for a vehicle to follow. The technique requires information about the vehicle dimensions, wheel layout and turning radius, so that the vehicle's kinematic capabilities can be computed automatically. Locations of obstacles in the maneuvering environment must also be given. The maneuver computed is kinematically feasible, and is given in terms of the control parameters of the vehicle, namely steering angle and forward/backward motion. The method includes techniques for transforming obstacles, performing cost wave propagation, and using kinematically correct neighborhoods to generate an augmented configuration space specific to a vehicle. With this structure, the vehicle can move from any starting position, correct for run-time deviations, and drive to the goal position. A 1/10 scale radio-controlled testbed is used to verify that the theoretical path can indeed be carried out in practice.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous vehicle maneuvering


    Beteiligte:

    Kongress:

    Mobile Robots VI ; 1991 ; Boston,MA,United States


    Erschienen in:

    Erscheinungsdatum :

    14.02.1992





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Homotopic Optimization for Autonomous Vehicle Maneuvering

    Zhou, Jian / Balachandran, Arvind / Olofsson, Bjorn et al. | IEEE | 2024


    AUTONOMOUS VEHICLE-TRAILER MANEUVERING AND PARKING

    RAMIREZ LLANOS EDUARDO JOSE / VERMA DHIREN / YU XIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS VEHICLE-TRAILER MANEUVERING AND PARKING

    RAMIREZ LLANOS EDUARDO JOSE / VERMA DHIREN / YU XIN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    AUTONOMOUS TRAILER MANEUVERING

    NETT JEREMY / WOODARD KY / CUTTER MICHAEL et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS TRAILER MANEUVERING

    NETT JEREMY / WOODARD KY / CUTTER MICHAEL et al. | Europäisches Patentamt | 2025

    Freier Zugriff