3110 B-spline曲線による無人車両の準最適走行経路生成

概要

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Recently, mining industries are actively introducing autonomous dump truck technology in the area to reduce accidents caused by fatigue of the driver, and to cut labor costs. The paths for autonomous vehicles are usually made up of clothoid arcs or polynomial curves connected by tangential line segments. The curvature profile of such path is continuous and can generate paths that satisfy the minimum turning radius requirements. However, such paths yield large rate of change in steering angles, and hence may shorten the life of tires and trucks. As an alternative, a B-spline curve allows us to generate paths that are curvature continuous with smooth rate of change in the curvature. In this paper, we introduce a novel method to generate paths for an unmanned vehicle in the presence of obstacles using B-spline curves when the positions and directions of the vehicle at the starting and the ending points are given.
一般社団法人日本機械学会の論文
2008-09-26