Lattice-based motion planning for a general 2-trailer system
Lattice-based motion planning for a general 2-trailer system
复制标题
通用 2 拖车系统的基于格子的运动规划
DOI：
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发表时间：
2017
期刊：
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通讯作者：
Olov Holmer
中科院分区：
文献类型：
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作者：
Oskar Ljungqvist;Niclas Evestedt;Marcello Cirillo;Daniel Axehill;Olov Holmer
一般两拖车系统的运动规划提出了一个困难的问题，任何运动规划算法和以前的方法缺乏任何完整性或最优性保证。在这项工作中，我们提出了一个基于网格的运动规划框架，一般2拖车系统，是分辨率完成和分辨率最优。该解决方案将满足差分和障碍物施加的约束，并且旨在作为自主系统的一部分或作为驾驶员支持系统，以自动规划向后和向前运动中的复杂机动。所提出的框架依赖于一个预先计算的步骤，离线执行，以生成一个有限的运动学上可行的运动基元。然后，这些运动基元用于创建规则的状态网格，可以使用标准的图形搜索算法搜索该网格以获得解决方案。为了使这个图搜索问题易于处理的实时应用提出了一种新的参数化的可达状态空间，每个运动原语移动系统从和到一组选定的循环平衡配置。该方法在三种不同的场景下进行了评估，并实现了令人印象深刻的实时性能。
Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning framework for a general 2-trailer system that is resolution complete and resolution optimal. The solution will satisfy both differential and obstacle imposed constraints and is intended either as a part of an autonomous system or as a driver support system to automatically plan complicated maneuvers in backward and forward motion. The proposed framework relies on a precomputing step that is performed offline to generate a finite set of kinematically feasible motion primitives. These motion primitives are then used to create a regular state lattice that can be searched for a solution using standard graph-search algorithms. To make this graph-search problem tractable for real-time applications a novel parametrization of the reachable state space is proposed where each motion primitive moves the system from and to a selected set of circular equilibrium configurations. The approach is evaluated over three different scenarios and impressive real-time performance is achieved.