| Abstract
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<p>Recently, functional gradient alg … <p>Recently, functional gradient algorithms like CHOMP have been very successful in producing locally optimal motion plans for articulated robots. In this paper, we have adapted CHOMP to work with a non-holonomic vehicle such as an autonomous truck with a single trailer and a differential drive robot. An extended CHOMP with rolling constraints have been implemented on both of these setup which yielded feasible curvatures. This paper details the experimental integration of the extended CHOMP motion planner with the sensor fusion and control system of an autonomous Volvo FH-16 truck. It also explains the experiments conducted on the differential-drive robot. Initial experimental investigations and results conducted in a real-world environment show that CHOMP can produce smooth and collision-free trajectories for mobile robots and vehicles as well. In conclusion, this paper discusses the feasibility of employing CHOMP to mobile robots.</p>mploying CHOMP to mobile robots.</p>
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| Author
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Jennifer David +
, Rafael Valencia +
, Roland Philippsen +
, Karl Iagnemma +
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| Conference
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11th Conference on Field and Service Robotics (FSR), Zürich, Switzerland, 12-15 September, 2017
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| Diva
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http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:1137701
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| Projects
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Cargo-ANTs +
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| PublicationType
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Conference Paper +
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| Title
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Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
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| Year
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2017 +
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| Has queryThis property is a special property in this wiki.
|
Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
, Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario +
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| Categories |
Publication +
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| Modification dateThis property is a special property in this wiki.
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4 September 2017 20:21:54 +
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