Path Planning for Perpendicular Parking of Large Articulated Vehicles Based on Qualitative Kinematics and Geometric Methods
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Han, Inhwan | - |
dc.date.accessioned | 2023-10-20T05:40:08Z | - |
dc.date.available | 2023-10-20T05:40:08Z | - |
dc.date.created | 2023-10-20 | - |
dc.date.issued | 2023-09 | - |
dc.identifier.issn | 2624-8921 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31722 | - |
dc.description.abstract | Since large articulated vehicles have uncertainties in trailer articulation angle as well as dynamic complexity, it is not easy to accurately establish a reliable motion plan. In this paper, two geometric path plans constructed based on the empirical rules of driving experts are presented so that articulated vehicles can automatically perform perpendicular parking on a reverse path. By analyzing the empirical parking methods of professional drivers, these path plans were constructed by appropriately combining several standardized simple basic motions to facilitate implementation in real vehicles. In addition, the path plans included appropriate complementary motions to effectively respond to uncertainties arising from articulation angles, etc. The complementary motions developed in this study are based on the results of qualitative analysis on the behavior of articulated vehicles. The usefulness of the proposed articulated vehicle parking method has been proven through hundreds of experimental tests using a scaled model automated vehicle. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | MDPI | - |
dc.subject | UNCERTAINTY | - |
dc.title | Path Planning for Perpendicular Parking of Large Articulated Vehicles Based on Qualitative Kinematics and Geometric Methods | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Han, Inhwan | - |
dc.identifier.doi | 10.3390/vehicles5030048 | - |
dc.identifier.scopusid | 2-s2.0-85172091753 | - |
dc.identifier.wosid | 001074397800001 | - |
dc.identifier.bibliographicCitation | VEHICLES, v.5, no.3, pp.876 - 893 | - |
dc.relation.isPartOf | VEHICLES | - |
dc.citation.title | VEHICLES | - |
dc.citation.volume | 5 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 876 | - |
dc.citation.endPage | 893 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Transportation | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.relation.journalWebOfScienceCategory | Transportation Science & Technology | - |
dc.subject.keywordPlus | UNCERTAINTY | - |
dc.subject.keywordAuthor | large articulated vehicles | - |
dc.subject.keywordAuthor | automated perpendicular parking | - |
dc.subject.keywordAuthor | geometric path plans | - |
dc.subject.keywordAuthor | empirical methods | - |
dc.subject.keywordAuthor | articulation angles | - |
dc.subject.keywordAuthor | qualitative kinematics | - |
dc.subject.keywordAuthor | uncertainties | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
94, Wausan-ro, Mapo-gu, Seoul, 04066, Korea02-320-1314
COPYRIGHT 2020 HONGIK UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.