Sökning: "CL-RRT"

Hittade 2 uppsatser innehållade ordet CL-RRT.

  1. 1. Motion Planning for a Reversing Full-Scale Truck and Trailer System

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Olov Holmer; [2016]
    Nyckelord :truck and trailer; general 2-trailer; motion planning; RRT; CL-RRT; numerical optimal control;

    Sammanfattning : In this thesis improvements, implementation and evaluation have been done on a motion planning algorithm for a full-sized reversing truck and trailer system. The motion planner is based on a motion planning algorithm called Closed-Loop Rapidly-exploring Random Tree (CL-RRT). LÄS MER

  3. 2. Motion Planning and Stabilization for a Reversing Truck and Trailer System

    Master-uppsats, Linköpings universitet/Reglerteknik; Linköpings universitet/Tekniska fakulteten

    Författare :Oskar Ljungqvist; [2015]
    Nyckelord :Truck and trailer; general 2-trailer; modeling; gain scheduling; LQ; Pure pursuit; motion planning; RRT; CL-RRT;

    Sammanfattning : This thesis work contains a stabilization and a motion planning strategy for a truck and trailer system. A dynamical model for a general 2-trailer with two rigid free joints and a kingpin hitching has been derived based on previous work. LÄS MER