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Fast, Continuos State Path Smoothing for Waist Articulated Vehicle
Örebro University, School of Science and Technology, Örebro University, Sweden.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Fast, Continuos State Path Smoothing for Waist Articulated Vehicle (English)
Abstract [en]

Autonomous navigation in real-world environments is an open challenging

task. A way for compute trajectory for non holonomic vehicles is to use a lattice

based motion planners, that can successfully generate kinematically and

kinodynamically feasible motions, but an open problem of this approach is the

inaccuracy of reaching the goal and the not smoothness of the path. The aim of

the thesis is to solve this two problem. We relate to the work proposed by Andreasson

et al. [10] for achive this problem implementing an Optimal Control

problem with the ACADO tookit. The approach reveals to be successful, the

paths after the application of the Optimal Control Problem results smoother

and with a very accurate end position.

Place, publisher, year, edition, pages
2015. , 58 p.
National Category
Software Engineering
Identifiers
URN: urn:nbn:se:oru:diva-45513OAI: oai:DiVA.org:oru-45513DiVA: diva2:845069
Subject / course
Computer Engineering
Supervisors
Examiners
Available from: 2015-08-10 Created: 2015-08-10 Last updated: 2015-08-10Bibliographically approved

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  • apa
  • harvard1
  • ieee
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
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  • nn-NB
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  • Other locale
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Output format
  • html
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  • asciidoc
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