The Problems of Using Existing Algorithms for Constructing a Path for Articulated Cargo Vehicles in a Dynamically Changing Environment

Abstract

Currently, various companies are developing unmanned vehicles in the cargo transportation industry. According to the results of the analysis of domestic and foreign sources, it has been revealed that algorithms based on graph theory are often used to construct the trajectory of motion, but only a few studies articulated vehicles and algorithms applicable to them, considering their features and the features of a dynamically changing environment. In this case, the maneuver of constructing a trajectory of movement in reverse for an articulated large-sized vehicle was studied, namely, the problems of using such algorithms on road trains to ensure the execution of the corresponding maneuver. A solution is proposed based on the method of finding a path from the final position using sensors and a signal processing unit installed on the vehicle.