Title :
Dynamic trajectory planning for trailer backup
Author :
Hafner, M. ; Pilutti, T.
Author_Institution :
Res. & Adv. Eng., Ford Motor Co., Dearborn, MI, USA
Abstract :
We consider the directed waypoint following problem for automated trailer backup. Waypoint following is achieved through the design of a hybrid planner, which is computationally efficient and robust to tracking errors. The planner requires feedback from a localized positioning system. Simulation results are generated using the vehicle dynamics simulator CarSim.
Keywords :
feedback; position control; road vehicles; trajectory control; CarSim; automated trailer backup; curvature following controller; directed waypoint following problem; dynamic trajectory planning; feedback; hybrid planner; localized positioning system; vehicle dynamics simulator; Cost function; Planning; Trajectory; Vectors; Vehicle dynamics; Vehicles;
Conference_Titel :
Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on
Conference_Location :
San Diego, CA
DOI :
10.1109/SMC.2014.6974302
