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Optimization-Based On-Road Path Planning for Articulated Vehicles
[article]
2020
arXiv
pre-print
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an increased risk of collision with surrounding traffic. In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer. To this end, we model the tractor-trailer
arXiv:2001.06827v2
fatcat:c4mvillb7jfv5mbo3tdsdzxf3u