• DocumentCode
    173912
  • Title

    Dynamic trajectory planning for trailer backup

  • Author

    Hafner, M. ; Pilutti, T.

  • Author_Institution
    Res. & Adv. Eng., Ford Motor Co., Dearborn, MI, USA
  • fYear
    2014
  • fDate
    5-8 Oct. 2014
  • Firstpage
    2501
  • Lastpage
    2506
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on
  • Conference_Location
    San Diego, CA
  • Type

    conf

  • DOI
    10.1109/SMC.2014.6974302
  • Filename
    6974302
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=173912