TY - GEN
T1 - An Environmental and Behavioral-oriented Search-based Trajectory Planning Approach for Tractor-trailer System in Narrow Environment
AU - Li, Daiwei
AU - Gao, Liang
AU - Jia, Bobo
AU - Yang, Yi
AU - Fu, Mengyin
AU - Xie, Shanshan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Tractor-trailer systems (TTSs) have been adopted in the logistics and transportation domain owing to their vast cargo capacity. Trajectory planning plays an important role in autonomous TTS driving, where existing predominant planners are usually based on graph search and sampling. However, such prevailing planners face the difficulties of poor real-time performance, due to the unique underactuated characteristic and complex kinematic constraints of TTS. Based on TTS motion characteristics and its application environment, this paper proposes a hybrid A∗ - jump point search (HA-JPS) planner, in which JPS improves the real-time performance, while hybrid A∗ provides the guarantee of kinematic constraints. Several TTS configures and typical environments were constructed to test the planning efficiency, trajectory feasibility, and completeness of HA-JPS. Comparative simulation experiment results illustrate that HA-JPS can improve real-time performance by more than 50% in different scenarios without loss of completeness.
AB - Tractor-trailer systems (TTSs) have been adopted in the logistics and transportation domain owing to their vast cargo capacity. Trajectory planning plays an important role in autonomous TTS driving, where existing predominant planners are usually based on graph search and sampling. However, such prevailing planners face the difficulties of poor real-time performance, due to the unique underactuated characteristic and complex kinematic constraints of TTS. Based on TTS motion characteristics and its application environment, this paper proposes a hybrid A∗ - jump point search (HA-JPS) planner, in which JPS improves the real-time performance, while hybrid A∗ provides the guarantee of kinematic constraints. Several TTS configures and typical environments were constructed to test the planning efficiency, trajectory feasibility, and completeness of HA-JPS. Comparative simulation experiment results illustrate that HA-JPS can improve real-time performance by more than 50% in different scenarios without loss of completeness.
UR - http://www.scopus.com/inward/record.url?scp=85186536894&partnerID=8YFLogxK
U2 - 10.1109/ITSC57777.2023.10422548
DO - 10.1109/ITSC57777.2023.10422548
M3 - Conference contribution
AN - SCOPUS:85186536894
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 3825
EP - 3830
BT - 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
Y2 - 24 September 2023 through 28 September 2023
ER -