Constrained dynamic path planning for a tractor and semi-trailer vehicle

Abstract: The aim for this project is to design and implement a dynamic path planningmethod for a tractor and semi-trailer vehicle. This vehicle will be in environmentwhich is simulated as a harbour, where containers and other autonomously guidedvehicles are represented as possible objects. Various physical limitations of thevehicle are taken into consideration. For this purpose, a simulator is built, where the environment is reproduced.During the simulation, the vehicle should drive towards the goal avoiding contain-ers and other vehicles, which are sensed by a detection and tracking system. Also,a case study is provided where the functionality of the proposed solution is shownin a given environment. Based on the results of the project, the vehicle computes and follows a tra-jectory towards the goal until a collision is predicted. A new alternative path iscalculated then in order to avoid the obstacle.