A Hybrid DWA-MPC Framework for Coordinated Path Planning and Collision Avoidance in Articulated Steering Vehicles

A Hybrid DWA-MPC Framework for Coordinated Path Planning and Collision Avoidance in Articulated Steering Vehicles

This paper presents an autonomous collision avoidance method that integrates path planning and control for articulated steering vehicles (ASVs) operating in underground tunnel environments. The confined nature of tunnel spaces, combined with the complex structure of ASVs, increases the risk of colli...

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Bibliographic Details
Main Authors: Xuanwei Chen, Changlin Yang, Huosheng Hu, Yunlong Gao, Qingyuan Zhu, Guifang Shao
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Machines
Subjects:
articulated steering vehicles
collision avoidance
coordinated planning and control
dynamic window approach
model predictive control
Online Access:https://www.mdpi.com/2075-1702/12/12/939

Internet

https://www.mdpi.com/2075-1702/12/12/939

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