Campus Units

Mechanical Engineering

Document Type

Conference Proceeding

Conference

2015 Conference on Autonomous and Robotic Construction of Infrastructure

Publication Version

Published Version

Publication Date

2015

Journal or Book Title

Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure

First Page

247

Last Page

261

Conference Title

Conference on Autonomous and Robotic Construction of Infrastructure

Conference Date

June 2-3, 2015

City

Ames, IA

Abstract

In this paper, we address a motion planning problem for an autonomous agricultural vehicle modeled as tractor-trailer system. We first present a numerical approach and a primitive-based approach for computing the time-optimal path based on given static initial and goal configurations. In the former approach, we define a value function for the entire state space. The value function is consistent with the time to reach goal configuration, and it is finally used to compute the optimal trajectory. In the latter approach, based on the regular and singular primitives, we present an algorithm to construct such primitives and derive the final path. Subsequently, we extend the results and present a dynamic motion planning strategy to accommodate the case of mobile target configuration. Finally, simulation results are provided to validate the feasibility and effectiveness of these techniques.

Comments

This is a paper from Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure, which can be found in full at: http://lib.dr.iastate.edu/intrans_reports/141/.

Copyright Owner

Iowa State University

Language

en

File Format

application/pdf

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