Constrained dynamic path planning for truck and trailer

From ISLAB/CAISR
Title Constrained dynamic path planning for truck and trailer
Summary Constrained dynamic path planning for truck and trailer
Keywords dynamic path planning obstacle avoidance
TimeFrame Dec 2014 - June 2015
References R. Siegwart and I. R. Nourbakhsh,Introduction to Autonomous Mobile Robots. Scituate, MA, USA: Bradford Company, 2004

A. Nozad, Heavy vehicle path stability control for collision avoidance applications," Master's thesis, Chalmers university of technology, 2011

J. G. Fernandez, A vehicle dynamics model for driving simulators," Master's thesis, Chalmers university of technology, 2012

Prerequisites
Author Imanol Mugarza
Supervisor Iulian Carpatorea, Sławomir Nowaczyk, Jennifer David
Level Master
Status Finished

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The experience of the truck driver plays an important role, when it needs to handle the vehicle in complicate situations, for example, maneuvering through small and thick streets or with a lot of traffic movement. Therefore, the driver needs to be concerned about the variations in the environment and the physical limitations of the vehicle. The aim of this project is to design and implement a dynamic path planning method for a truck and trailer taking into account the obstacles of the environment (static and dynamics) and the physical limitations of the vehicle. As expected results, when the obstacles are not moved during the time, the algorithm should compute a static path which the vehicle would follow during the simulation time. However, while using dynamic obstacles objects which change the position and orientation through the time), the path planner will recalculate the trajectory in order to avoid the obstacles.