Path generation for articulated steering type vehicle using symmetrical clothoid

Abstract

Autonomous trajectory following of a wheel loader is closely related to v-shape path planning. Given the desired initial position and orientation of the wheel loader as (x/sub 0/, y/sub 0/, /spl theta//sub 0/) and the desired final position and orientation as (x/sub truck/, y/sub truck/, /spl theta//sub truck/), successful v-shape path planning can be achieved by the derivations of 2 important parameters of the clothoid curve, k (sharpness) and s/sub m/ ( total distance of 1 clothoid curve) and determinations of the summit point of v-shape path, (x/sub e/,ye) and direction, /spl theta//sub e/.