Related papers: A path planning and path-following control framewo…
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…
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal…
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…
Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…
Off-road driving operations can be a challenging environment for human conductors as they are subject to accidents, repetitive and tedious tasks, strong vibrations, which may affect their health in the long term. Therefore, they can benefit…
Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orientate the trailer properly. The problem…
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…
Lattice-based motion planning is a hybrid planning method where a plan made up of discrete actions simultaneously is a physically feasible trajectory. The planning takes both discrete and continuous aspects into account, for example action…
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by the rapidly-exploring random tree algorithm and…
Trailer parking is a challenging task due to the unstable nature of the vehicle-trailer system in reverse motion and the unintuitive steering actions required at the vehicle to accomplish the parking maneuver. This paper presents a strategy…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Although MPCC has proven effective for passenger cars, it is…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…