連結車両の自律航法のための時空間チューブに基づく安全証明書
Spatiotemporal Tube-Based Safety-Certificate for Autonomous Navigation of Articulated Vehicles
トラクタートレーラーなどの連結車両が狭い経路を安全に走行するための計画手法を提案。車両の運動学とスウェイ制約を考慮し、許容補正に基づく時空間チューブを修正して経路の安全証明書を提供する。
著者: Mohd. Faizuddin Faruqui, Ratnangshu Das, Ravi Kumar L, Pushpak Jagtap
分類: cs.RO, eess.SY
原文アブストラクト
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.