Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Proceedings of the Conference on Production Systems and Logistics |
| Untertitel | CPSL 2021 |
| Seiten | 136-145 |
| Seitenumfang | 10 |
| Publikationsstatus | Veröffentlicht - 2021 |
| Veranstaltung | 2nd Conference on Production Systems and Logistics, CPSL 2021 - Virtual, Online Dauer: 10 Aug. 2021 → 11 Aug. 2021 |
Publikationsreihe
| Name | Proceedings of the Conference on Production Systems and Logistics |
|---|---|
| ISSN (Print) | 2701-6277 |
Abstract
Tractor-trailer Mobile Robot systems consist of a nonholonomic mobile robot regarded as a tractor and several passive trailers linked to the tractor via a hinge. As these systems are in many cases more economical compared to multi mobile robot systems, they are nowadays used for the transport of various objects in the field of logistics. Hence an exact and efficient path planning algorithm is required. Due to the highly non-linear characteristics of such a system, path planning is always a challenging problem. Many path planning algorithms have already been proposed for mobile robots. While some of these approaches can solve the path planning problem for robots with multiple trailers, the solutions are usually complex, limited to a specific hardware configuration, or very computationally expensive. In this work, we present an algorithm that, although still computationally expensive in its current form, provides a very simple, extensible, and flexible solution for path planning of tractor-trailer robots. Based on a conventional global planner for mobile robots (like A* or Dijkstra), our algorithm adjusts the global path according to the dimension of the carried object so that the whole system traverses a collision-free path. We take advantage of the fact that the global planner has already planned a collision-free path for the mobile robot (tractor), which the trailer follows almost exactly on straight paths. Accordingly, collisions occur predominantly in or shortly after curves. We designed our algorithm to detect these particular curves and adjust the curve radius so that no collision occurs. This way, we do not need to re-plan the whole trajectory. Also, we can upgrade almost any planning algorithm for mobile robots to work with tractor-trailer systems. We validate our method based on a series of simulations. First real-world experiments are also very promising.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Wirtschaftsingenieurwesen und Fertigungstechnik
- Ingenieurwesen (insg.)
- Maschinenbau
- Betriebswirtschaft, Management und Rechnungswesen (insg.)
- Technologie- und Innovationsmanagement
- Betriebswirtschaft, Management und Rechnungswesen (insg.)
- Strategie und Management
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Proceedings of the Conference on Production Systems and Logistics: CPSL 2021. 2021. S. 136-145 (Proceedings of the Conference on Production Systems and Logistics).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - A Simple And Modular Approach To Path Planning For Tractor-Trailer Robots Based On Modification Of Pre-Existing Trajectories
AU - Recker, Tobias
AU - Matour, Mohammad Ehsan
AU - Raatz, Annika
PY - 2021
Y1 - 2021
N2 - Tractor-trailer Mobile Robot systems consist of a nonholonomic mobile robot regarded as a tractor and several passive trailers linked to the tractor via a hinge. As these systems are in many cases more economical compared to multi mobile robot systems, they are nowadays used for the transport of various objects in the field of logistics. Hence an exact and efficient path planning algorithm is required. Due to the highly non-linear characteristics of such a system, path planning is always a challenging problem. Many path planning algorithms have already been proposed for mobile robots. While some of these approaches can solve the path planning problem for robots with multiple trailers, the solutions are usually complex, limited to a specific hardware configuration, or very computationally expensive. In this work, we present an algorithm that, although still computationally expensive in its current form, provides a very simple, extensible, and flexible solution for path planning of tractor-trailer robots. Based on a conventional global planner for mobile robots (like A* or Dijkstra), our algorithm adjusts the global path according to the dimension of the carried object so that the whole system traverses a collision-free path. We take advantage of the fact that the global planner has already planned a collision-free path for the mobile robot (tractor), which the trailer follows almost exactly on straight paths. Accordingly, collisions occur predominantly in or shortly after curves. We designed our algorithm to detect these particular curves and adjust the curve radius so that no collision occurs. This way, we do not need to re-plan the whole trajectory. Also, we can upgrade almost any planning algorithm for mobile robots to work with tractor-trailer systems. We validate our method based on a series of simulations. First real-world experiments are also very promising.
AB - Tractor-trailer Mobile Robot systems consist of a nonholonomic mobile robot regarded as a tractor and several passive trailers linked to the tractor via a hinge. As these systems are in many cases more economical compared to multi mobile robot systems, they are nowadays used for the transport of various objects in the field of logistics. Hence an exact and efficient path planning algorithm is required. Due to the highly non-linear characteristics of such a system, path planning is always a challenging problem. Many path planning algorithms have already been proposed for mobile robots. While some of these approaches can solve the path planning problem for robots with multiple trailers, the solutions are usually complex, limited to a specific hardware configuration, or very computationally expensive. In this work, we present an algorithm that, although still computationally expensive in its current form, provides a very simple, extensible, and flexible solution for path planning of tractor-trailer robots. Based on a conventional global planner for mobile robots (like A* or Dijkstra), our algorithm adjusts the global path according to the dimension of the carried object so that the whole system traverses a collision-free path. We take advantage of the fact that the global planner has already planned a collision-free path for the mobile robot (tractor), which the trailer follows almost exactly on straight paths. Accordingly, collisions occur predominantly in or shortly after curves. We designed our algorithm to detect these particular curves and adjust the curve radius so that no collision occurs. This way, we do not need to re-plan the whole trajectory. Also, we can upgrade almost any planning algorithm for mobile robots to work with tractor-trailer systems. We validate our method based on a series of simulations. First real-world experiments are also very promising.
KW - Object Transport
KW - Path Planning
KW - Tractor-Trailer mobile robots
UR - http://www.scopus.com/inward/record.url?scp=85163930537&partnerID=8YFLogxK
U2 - 10.15488/11241
DO - 10.15488/11241
M3 - Conference contribution
AN - SCOPUS:85163930537
T3 - Proceedings of the Conference on Production Systems and Logistics
SP - 136
EP - 145
BT - Proceedings of the Conference on Production Systems and Logistics
T2 - 2nd Conference on Production Systems and Logistics, CPSL 2021
Y2 - 10 August 2021 through 11 August 2021
ER -