تقرير
Motion Primitives Planning For Center-Articulated Vehicles
| العنوان: | Motion Primitives Planning For Center-Articulated Vehicles |
|---|---|
| المؤلفون: | Hu, Jiangpeng, Yang, Fan, Nan, Fang, Hutter, Marco |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Autonomous navigation across unstructured terrains, including forests and construction areas, faces unique challenges due to intricate obstacles and the element of the unknown. Lacking pre-existing maps, these scenarios necessitate a motion planning approach that combines agility with efficiency. Critically, it must also incorporate the robot's kinematic constraints to navigate more effectively through complex environments. This work introduces a novel planning method for center-articulated vehicles (CAV), leveraging motion primitives within a receding horizon planning framework using onboard sensing. The approach commences with the offline creation of motion primitives, generated through forward simulations that reflect the distinct kinematic model of center-articulated vehicles. These primitives undergo evaluation through a heuristic-based scoring function, facilitating the selection of the most suitable path for real-time navigation. To augment this planning process, we develop a pose-stabilizing controller, tailored to the kinematic specifications of center-articulated vehicles. During experiments, our method demonstrates a $67\%$ improvement in SPL (Success Rate weighted by Path Length) performance over existing strategies. Furthermore, its efficacy was validated through real-world experiments conducted with a tree harvester vehicle - SAHA. Comment: 8 pages, 9 figures |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2405.17127Test |
| رقم الانضمام: | edsarx.2405.17127 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |