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This bachelor thesis deals basically with the design and the implementation of a data structure describing maneuvers for car-like robots. This data structure affords planning feasible routes which admit a continuous modification of the steering angle.
The focus of this thesis rests on turn maneuvers, which consist of two clothoid arcs and one circular arc. One of the key aspects is the design of a concept for creating a corridor for these maneuvers. A corridor shall enclose the area which the vehicle covers during the corresponding maneuver. It finally provides a basis to guarantee collision freedom. Furthermore, a planning module is designed and implemented within this bachelor thesis. Based on specified construction lines, the planning module creates feasible routes made up of maneuvers.
This master thesis deals basically with the design and implementation of a path planning system based on rapidly exploring search trees for general-n-trailers. This is a probabilistic method that is characterized by a fast and uniform exploration. The method is well established, however, has been applied only to vehicles with simple kinematics to date. General-n-trailers represent a particular challenge as their controllability is limited. For this reason the focus of this thesis rests on the application of the mentioned procedure to general-n-trailers. In this context systematic correlations between the characteristics of general-n-trailers and the possibilities for the realization and application of the method are analyzed.