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International Journal of Automotive Technology

17.02.2025 | Chassis, Connected Automated Vehicles and ITS, Electrical and Electronics, Vehicle Dynamics and Control

Research on Obstacle Avoidance Path Planning for Wheeled Tractor–Trailer System

verfasst von: Han Jiangyi, Liu Hengyuan, Tang Hao

Erschienen in: International Journal of Automotive Technology

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Abstract

This paper presents a method for obstacle avoidance path planning specifically designed for tractor–trailer system. A collision prevention constraint for both the tractor and trailer was established through kinematic analysis within the path planning algorithm. An evaluation method for obstacle avoidance was proposed, which determines whether the vertices of the tractor–trailer outline lie outside the obstacle polygon. The adaptive homotopy algorithm is employed to facilitate nonlinear path planning for the tractor implements. A simulation model for obstacle avoidance path planning was developed using MATLAB and AMPL software for the JM204 tractor and trailer. In the simulation experiments, two distinct working conditions were created based on the distance between the initial position of the tractor–trailer and the obstacles. The results of the simulation experiments demonstrate that the tractor–trailer system can successfully avoid obstacles and reach the target position via the planned path under different working conditions. As the distance between the tractor–trailer unit and the obstacle decreases, the number of iterations and the computational load increase. The simulation results validate the effectiveness of the proposed obstacle avoidance path planning method for the tractor–trailer system.

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Titel: Research on Obstacle Avoidance Path Planning for Wheeled Tractor–Trailer System
verfasst von: Han Jiangyi
Liu Hengyuan
Tang Hao
Publikationsdatum: 17.02.2025
Verlag: The Korean Society of Automotive Engineers
Erschienen in: International Journal of Automotive Technology
Print ISSN: 1229-9138
Elektronische ISSN: 1976-3832
DOI: https://doi.org/10.1007/s12239-024-00188-3

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