Optimal collision free path planning for an autonomous articulated vehicle with two trailers

This paper presents a motion planning algorithm for generating optimal collision-free paths for robotic vehicle with two trailers moving autonomously. The proposed algorithm is based on combination between artificial potential field method (APF) and optimal control theory. The optimal control theory is applied to generate an optimal collision-free path for robotic vehicle from a starting point to the goal point. On the other hand, the proposed APF is based on two-dimensional Gaussian function to represent goal location as attractor and obstacles as repulsors and consequently, will control the steering angle of the robotic vehicle so that it can reach to its target location safely avoiding collision. A linear two-degree-of-freedom vehicle model with linear tire characteristics is derived to represent the vehicle motion considering the lateral and yaw dynamics. Several simulations are carried out to check the fidelity of the proposed technique and the illustrated results demonstrated the generated path for the robotic vehicle with two trailers satisfy vehicle dynamics constraints, avoid collision with the obstacles and reach the target location safely. The simulations results demonstrated the efficiency of the proposed algorithm and its success in dealing with complex environments with different obstacles.