Publications:Local Path Optimizer for an Autonomous Truck in a Harbour Scenario

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Title Local Path Optimizer for an Autonomous Truck in a Harbour Scenario
Author Jennifer David and Rafael Valencia and Roland Philippsen and Karl Iagnemma
Year 2017
PublicationType Conference Paper
Journal
HostPublication
Conference 11th Conference on Field and Service Robotics (FSR), Zürich, Switzerland, 12-15 September, 2017
DOI
Diva url http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:1137701
Abstract 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.