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2010 (English)In: IEEE Transactions on Automation Science and Engineering, ISSN 1545-5955, E-ISSN 1558-3783, Vol. 7, no 1, p. 167-172Article in journal (Refereed) Published
Abstract [en]
We study the problem of automatic generation of smooth and obstacle-avoiding planar paths for efficient guidance of autonomous mining vehicles. Fast traversal of a path is of special interest. We consider four-wheel four-gear articulated vehicles and assume that we have an a priori knowledge of the mine wall environment in the form of polygonal chains. Computing quartic uniform B-spline curves, minimizing curvature variation, staying at least at a proposed safety margin distance from the mine walls, we plan high speed paths.
National Category
Computational Mathematics Computer Sciences
Research subject
Scientific Computing; Dependable Communication and Computation Systems
Identifiers
urn:nbn:se:ltu:diva-5437 (URN)10.1109/TASE.2009.2015886 (DOI)000273133300017 ()2-s2.0-73849111744 (Scopus ID)38ae9f20-38bf-11dd-8721-000ea68e967b (Local ID)38ae9f20-38bf-11dd-8721-000ea68e967b (Archive number)38ae9f20-38bf-11dd-8721-000ea68e967b (OAI)
Note
Validerad; 2010; Bibliografisk uppgift: Paper id:: T-ASE-2008-162; 20080612 (tb)
2016-09-292016-09-292018-07-10Bibliographically approved