Online Dynamic Smooth Path Planning for an Articulated Vehicle

Thaker Nayl, George Nikolakopoulos, Thomas Gustafsson

Abstract

This article proposes a novel online dynamic smooth path planning scheme based on a bug like modified path planning algorithm for an articulated vehicle under limited and sensory reconstructed surrounding static environment. In the general case, collision avoidance techniques can be performed by altering the articulated steering angle to drive the front and rear parts of the articulated vehicle away from the obstacles. In the presented approach factors such as the real dynamics of the articulated vehicle, the initial and the goal configuration (displacement and orientation), minimum and total travel distance between the current and the goal points, and the geometry of the operational space are taken under consideration to calculate the update on the future way points for the articulated vehicle. In the sequel the produced path planning is being online and iteratively smoothen by the utilization of Bezier lines before producing the necessary rate of change for the vehicle’s articulated angle. The efficiency of the proposed scheme is being evaluated by multiple simulation studies.

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Paper Citation


in Harvard Style

Nayl T., Nikolakopoulos G. and Gustafsson T. (2013). Online Dynamic Smooth Path Planning for an Articulated Vehicle . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 177-183. DOI: 10.5220/0004438301770183


in Bibtex Style

@conference{icinco13,
author={Thaker Nayl and George Nikolakopoulos and Thomas Gustafsson},
title={Online Dynamic Smooth Path Planning for an Articulated Vehicle},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={177-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004438301770183},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Online Dynamic Smooth Path Planning for an Articulated Vehicle
SN - 978-989-8565-71-6
AU - Nayl T.
AU - Nikolakopoulos G.
AU - Gustafsson T.
PY - 2013
SP - 177
EP - 183
DO - 10.5220/0004438301770183