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Trajectory Generation using Sharpness Continuous Dubins-like Paths with Applications in Control of Heavy-Duty Vehicles
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-6802-7520
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-3672-5316
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2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 935-940Conference paper, Published paper (Refereed)
Abstract [en]

We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth driving of autonomous heavy-duty vehicles, which are characterized by slow actuator dynamics. In order to deal with the slow dynamics, we take into account rate and, additionally, torque limitations of the steering actuator directly. Previous methods only take into account limitations in the path curvature, which deals indirectly with steering rate limitations. We propose the new concept of Sharpness Continuous curves, which uses cubic curvature paths together with circular arcs to steer the vehicle. The obtained paths are characterized by a smooth and continuously differentiable steering angle profile. The final trajectories computed with our method provide low-level controllers with reference signals which are easier to track, resulting in improved performance. The smoothness of the obtained steering profiles also results in increased passenger comfort. The method is characterized by fast computation times. We detail possible path planning applications of the method, and conduct simulations that show its advantages and real-time capabilities.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2018. p. 935-940
Keywords [en]
Actuators, Automobile steering equipment, Motion planning, Trajectories, Actuator dynamics, Continuously differentiable, Heavy duty vehicles, Low-level controllers, Planning applications, Real time capability, Steering actuators, Trajectory generation, Steering
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-247039DOI: 10.23919/ECC.2018.8550279Scopus ID: 2-s2.0-85056785367ISBN: 9783952426982 (print)OAI: oai:DiVA.org:kth-247039DiVA, id: diva2:1330120
Conference
16th European Control Conference, ECC 2018, 12 June 2018 through 15 June 2018
Note

QC 20190625

Available from: 2019-06-25 Created: 2019-06-25 Last updated: 2019-06-25Bibliographically approved

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Oliveira, Rui Filipe De SousaLima, Pedro F.Mårtensson, JonasWahlberg, Bo

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