The aim for this project is to design and implement a dynamic path planningmethod for a tractor and semi-trailer vehicle. This vehicle will be in environmentwhich is simulated as a harbour, where containers and other autonomously guidedvehicles are represented as possible objects. Various physical limitations of thevehicle are taken into consideration. For this purpose, a simulator is built, where the environment is reproduced.During the simulation, the vehicle should drive towards the goal avoiding contain-ers and other vehicles, which are sensed by a detection and tracking system. Also,a case study is provided where the functionality of the proposed solution is shownin a given environment. Based on the results of the project, the vehicle computes and follows a tra-jectory towards the goal until a collision is predicted. A new alternative path iscalculated then in order to avoid the obstacle.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:hh-28655 |
| Date | January 2015 |
| Creators | Mugarza, Imanol |
| Publisher | Högskolan i Halmstad, Akademin för informationsteknologi |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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