Path Planning for Autonomous Articulated Vehicle Based on Improved Goal-Directed Rapid-Exploring Random Tree
Joint Authors
Xu, Tong
Xu, Yang
Wang, Dong
Chen, Siwei
Zhang, Weigong
Feng, Lihang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-20
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The special steering characteristics and task complexity of autonomous articulated vehicle (AAV) make it often require multiple forward and backward movements during autonomous driving.
In this paper, we present a simple yet effective method, named head correction with fixed wheel position (HC-FWP), for the demand of multiple forward and backward movements.
The goal-directed rapid-exploring random tree (GDRRT) algorithm is first used to search for a feasible path in the obstacle map, and then, the farthest node search (FNS) algorithm is applied to obtain a series of key nodes, on which HC-FWP is used to correct AAV heading angles.
Simulation experiments with Dynapac CC6200 articulated road roller parameters show that the proposed improved goal-directed rapid-exploring random tree (IGDRRT), consisting of GDRRT, FNS, and HC-FWP, can search a feasible path on maps that require the AAV to move back and forth.
American Psychological Association (APA)
Xu, Tong& Xu, Yang& Wang, Dong& Chen, Siwei& Zhang, Weigong& Feng, Lihang. 2020. Path Planning for Autonomous Articulated Vehicle Based on Improved Goal-Directed Rapid-Exploring Random Tree. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1197637
Modern Language Association (MLA)
Xu, Tong…[et al.]. Path Planning for Autonomous Articulated Vehicle Based on Improved Goal-Directed Rapid-Exploring Random Tree. Mathematical Problems in Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1197637
American Medical Association (AMA)
Xu, Tong& Xu, Yang& Wang, Dong& Chen, Siwei& Zhang, Weigong& Feng, Lihang. Path Planning for Autonomous Articulated Vehicle Based on Improved Goal-Directed Rapid-Exploring Random Tree. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1197637
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197637