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Extension of Trajectory Planning in Parameterized Spaces to Articulated Vehicles

posted Jun 16, 2017, 3:29 AM by Mauro Bellone   [ updated Jun 16, 2017, 3:30 AM ]

The main objective of this research is to study a novel method for safe maneuvering of articulated vehicles in warehouses. The presented method extends the concept of probabilistic planning on manifolds to articulated vehicles, which will be capable of driving, maneuvering and performing obstacle avoidance in any scenario. The proposed technique involves the extension of a parameterized space, developed for the reactive navigation of differential driven vehicles, to include an additional degree of freedom and use a probabilistic planner to calculate kinematically feasible trajectories. As a result, the algorithm is able to successfully generate maneuvers for an articulated truck and to navigate towards specific target points. The approach was validated using three problems representing different driving scenarios, demonstrating the possible utilization of the method in real-case scenarios. The solutions have been further benchmarked on multiple runs to evaluate success rate and to demonstrate the validity of the algorithm.

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M. Bellone, and  J. Qutteineh - "Extension of Trajectory Planning in Parameterized Spaces to Articulated Vehicles" - Proceedings of the 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation; ETFA2017 [ draft ]