Abstract
Obstacle avoidance is a core part of the autonomous driving of off-road vehicles, such as semi-trailers. Due to the long length of semi-trailers, the traditional obstacle avoidance controller based on the circumcircle model can ensure that there is no collision between the semi-trailer and the obstacle, but it also greatly reduces the passable area. To solve this problem, we propose a new obstacle avoidance model. In this model, the distance between the obstacle and the middle line of semi-trailers is used as the indicator of obstacle avoidance. Based on this model, we design a new obstacle avoidance controller for semi-trailers. The simulation results show that the proposed controller can ensure that no collision occurs between the semi-trailer and the obstacle. The minimum distance between the obstacle center and the semi-trailer body trajectory is greater than the sum of the obstacle radius and the safety margin. Compared with the traditional obstacle avoidance controller based on the circumcircle model, the proposed controller greatly reduces the error between the semi-trailer and the reference path during obstacle avoidance.
Highlights
For unmanned vehicles, especially off-road unmanned vehicles, obstacle detection and avoidance are very important [1,2]
Compared with the controller based on the circumcircle model, the proposed controller reduced the displacement error and the heading error between the semi-trailer and the reference path by 22.8217 m and 1.4841 rad, 18
Aiming at the obstacle avoidance control of the semi-trailer, we proposed a new obstacle avoidance model, andobstacle based on this model, an obstacle avoidance controller basedaon
Summary
Especially off-road unmanned vehicles, obstacle detection and avoidance are very important [1,2]. Nayl et al proposed an MPC-based obstacle avoidance method for an articulated vehicle [10]. We propose a nonlinear MPC-based obstacle avoidance controller for agricultural trailers [15]. These studies are of great significance for the application of MPC in the obstacle avoidance control of vehicles In these papers, the vehicle was treated as a circumcircle of the vehicle or just a point. If the semi-trailer is treated as a circumcircle and the length of the semi-trailer is 16 m, the controller will have to control the vehicle to avoid obstacles within 8 m from the side of the body. We believe that it is necessary to propose a new MPC-based controller for the obstacle avoidance control of semi-trailers.
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