Online Trajectory Planning for an Industrial Tractor Towing Multiple Full Trailers
Hongchao Zhao,Wen Chen,Shunbo Zhou,Zhe Liu,Fan Zheng,Yun-Hui Liu,Hongchao Zhao,Wen Chen,Shunbo Zhou,Zhe Liu,Fan Zheng,Yun-Hui Liu
This paper presents a novel solution for online trajectory planning of a full-size tractor-trailers vehicle composed of a car-like tractor and arbitrary number of passive full trailers. The motion planning problem for such systems was rarely addressed due to the complex nonlinear dynamics. A simulation-based prediction method is proposed to easily handle the complicated nonlinear dynamics and effi...
