The shape of the path that a vehicle traverses affects the possible speed as well as the wear of the vehicle. That is why path planning becomes important when optimizing the use of an autonomous vehicle for these factors.
This report discusses the development of a tool for visualizing the paths and their properties for evaluation purposes. The tool is capable of visualizing the length, location, curvature and derivative of curvature of any path given as a sequence of 7th degree polynomials, as well as the corresponding environment. For the specific vehicles used by the mining company LKAB the transport time, speed and limits in curvature and derivative of curvature are also visualized. The tool was developed in java and can therefore be used on several platforms.
Author: Staffanson, Mats
Source: Lulea University of Technology
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