Time-optimal trajectory planning for autonomous parking of tractor-semitrailer vehicle based on piecewise Gauss pseudospectral method
Duoyang Qiu,
Minglong Cheng,
Hao Yang
et al.
Abstract:For the autonomous parking problem of the tractor-semitrailer vehicle, a piecewise Gauss pseudospectral method is proposed as a trajectory planning scheme in this paper. Firstly, the trajectory planning problem is transformed into an optimal control problem by establishing a vehicle kinematics model for the low-velocity scene, the dynamic constraints including the physical constraints, the collision avoidance constraints, and the endpoint constraints. The optimal control problem are discretized into a nonlinea… Show more
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