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Obstacle avoidance for multi-axle steered multi-body vehicles

: Beyersdorfer, S.; Wagner, S.; Zipser, S.

Scharff, P. ; TU Ilmenau, Fakultät für Maschinenbau:
Innovation in mechanical engineering - shaping the future : Programme; 56th IWK, International Scientific Colloquium, Ilmenau University of Technology, 12 - 16 September 2011
Ilmenau: Technische Universität Ilmenau, 2011
ISBN: 978-3-86360-001-3
6 S.
Internationales Wissenschaftliches Kolloquium (IWK) <56, 2011, Ilmenau>
International Scientific Colloquium <56, 2011, Ilmenau>
Fraunhofer IVI ()
path planning; obstacle avoidance; multi-axle steering; multi-body

Manoeuvring a large heavy load vehicle through difficult scenarios is not always an easy task. This paper presents a path planning algorithm, based on the A*-Algorithm, that calculates collision free paths for multi-axle steered multi-body vehicles. So it is possible to predict whether the vehicle can pass its designated route or if the route needs to be changed. The precalculated manoeuvres can be used to assist the driver.