为铰接式车辆设计安全导航路径，确保拖挂车厢全程不越界。
Spatiotemporal Tube-Based Safety-Certificate for Autonomous Navigation of Articulated Vehicles
- 基于时空管约束建模车辆运动与摆动，生成安全路径
- 在复杂路线仿真中实现拖车全程不越界，路径可认证
- 适合物流自动驾驶、智能运输系统研发人员使用
铰接式车辆是货运运输的主力，其自主导航极具挑战性。由于物理结构和运动约束，在狭窄路段行驶尤为困难。本文提出一种基于时空管的自主导航规划方法，适用于牵引半挂车、卡车/牵引车、拖拽式自动导引车（AGV）及公路列车等。该方法通过考虑连接部件的运动学特性与摆动限制，为被驱动的主车生成安全路径管，确保拖挂车厢始终处于道路走廊内。通过允许范围内的修正对时空管进行调整，为给定路线提供路径安全证书。所提方法在复杂路线的卡车-拖车导航仿真中得到验证。
原文摘要 · Abstract (English)
Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challenging. Their physical characteristics and motion constraints pose significant challenges in manoeuvring these vehicles on narrow routes. This paper presents a spatiotemporal tube-based approach to plan autonomous navigation of vehicles like tractor semi-trailers, truck/ tractor trailers, towing Automated Guided Vehicles (AGVs), and road trains. This planning approach provides a certified path plan for the truck or tractor, ensuring that the towed series of trailers always remains within the road corridor, limited by permissible corrections. The planning leverages the kinematics of the linked elements along with sway constraints to arrive at a safe tube for the actuated prime mover. We modify the spatiotemporal tube using permissible corrections to provide a route safety certificate to the vehicle for the given route. The proposed planning method is verified on a truck-trailer navigation simulation for a complex route.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。