Planning smooth and obstacle-avoiding B-spline paths for autonomous mining vehicles

IEEE Transactions on Automation Science and Engineering

Volumn 7, Issue 1, 2010, Pages 167-172

  Berglund, Tomas ^a   Brodnik, Andrej ^b,c   Jonsson, Håkan ^a   Staffanson, Mats ^a   Söderkvist, Inge ^a  

^a LULEÅ UNIVERSITY OF TECHNOLOGY   (Sweden)

^b UNIVERSITY OF PRIMORSKA   (Slovenia)

^c UNIVERSITY OF LJUBLJANA   (Slovenia)

Author keywords

Articulated vehicle; Autonomous Guided Vehicle (AGV); B spline curve; Derivative of curvature; Mining industry; Motion planning; Nonlinear optimization; Obstacle avoidance; Path planning; Safety margin; Smoothness; Travel time

Indexed keywords

ARTICULATED VEHICLE; AUTONOMOUS GUIDED VEHICLES; B SPLINE CURVE; MINING INDUSTRY; NON-LINEAR OPTIMIZATION; OBSTACLE AVOIDANCE; PATH-PLANNING; SAFETY MARGIN; TRAVEL TIME;

AUTOMOBILE PARTS AND EQUIPMENT; CURVE FITTING; INTELLIGENT ROBOTS; MINING; NAVIGATION; OPTIMIZATION; SHIP PROPELLERS; SPLINES; STEERING; UNLOADING; VISUAL COMMUNICATION;

AUTOMOBILE STEERING EQUIPMENT;

EID: 73849111744     PISSN: 15455955     EISSN: None     Source Type: Journal    
DOI: 10.1109/TASE.2009.2015886     Document Type: Article

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