Journal ArticleDOI
Trajectory generation for a four wheel steering tractor-trailer system: a two-step method
Yongji Wang,Matthew P. Cartmell +1 more
TLDR
This paper investigates the trajectory generation problem for a four-wheel-steering tractor/semi-trailer system, and it is shown that this nonholonomic constraint problem can be converted into one of finding fitting-functions satisfying certain necessary boundary conditions.Abstract:
A basic problem in the development of an intelligent vehicle/highway system (IVHS), or an autonomous mobile robot system (AMRS) is to find suitable input controls which can be used to drive the vehicle between any two configurations. In this paper a trajectory generation problem for a four-wheel-steering tractor/semi-trailer system is investigated, and it is shown that this nonholonomic constraint problem can be converted into one of finding fitting-functions satisfying certain necessary boundary conditions. Proposals for control laws are presented and simulation results for a lane change manoeuvre are given.read more
Citations
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Journal ArticleDOI
A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles
Bai Li,Zhijiang Shao +1 more
TL;DR: Simulation results validate that the proposed motion planning method can tackle general parking scenarios and may be suitable for the next-generation intelligent parking-garage system.
Journal ArticleDOI
Clothoids Composition Method for Smooth Path Generation of Car-Like Vehicle Navigation
TL;DR: The resultant global path path is tested on the Lyapunov-based control scheme and showed improved performance on its steering work (reduction of 41.0% than the driving based on the raw data), which permits the effectiveness of the obtained global path for car-like vehicles path following to be validated.
Journal ArticleDOI
Precise trajectory optimization for articulated wheeled vehicles in cluttered environments
Bai Li,Zhijiang Shao +1 more
TL;DR: Simulation results verify that the proposed methodology can provide accurate results and can deal with various optimization objectives uniformly, thus transforming the dynamic optimization problem into a static one with simple bounds on the decision variables.
Journal ArticleDOI
A real-time path planning approach without the computation of Cspace obstacles
TL;DR: A new real-time robot path planning approach without the calculation of the Cspace obstacles is presented which, to the best of the knowledge, is the first one in the robotic community.
Proceedings ArticleDOI
Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization
Bai Li,Kexin Wang,Zhijiang Shao +2 more
TL;DR: This study considers the original trajectory planning mission directly, which is described as an optimal control problem containing the kinematics, mechanical/physical constraints, environmental requirements as well as an optimization criterion, and adopts an interior-point method based simultaneous approach.
References
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Journal ArticleDOI
Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.
Journal ArticleDOI
Nonholonomic motion planning: steering using sinusoids
TL;DR: Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated and suboptimal trajectories are derived for systems that are not in canonical form.
Journal ArticleDOI
Control issues in automated highway systems
TL;DR: In this article, vehicle control issues that must be faced in designing a fully automated highway system (AHS) are addressed, in particular requirements for a control system architecture as well as issues of lateral and longitudinal "platoon" control.
Journal ArticleDOI
Motion of two rigid bodies with rolling constraint
Zexiang Li,John Canny +1 more
TL;DR: An algorithm is proposed that generates a desired path with one of the objects being flat between two contact configurations, using a generalized version of Frobenius's theorem for determining the existence of motion.
Proceedings ArticleDOI
Nonholonomic path planning of space robots via a bidirectional approach
TL;DR: A path-planning method of nonholonomic motion is developed using a Lyapunov function that can be controlled in addition to the joint variables of the manipulator by actuating only the Joint variables, if the trajectory is carefully planned.
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