In this paper, a terrain-adaptive motion planner is developed specifically for articulated construction vehicles (ACVs) to address instability issues caused by elevation changes on unstructured construction sites—challenges that traditional 2D motion planners struggle to manage effectively. The proposed planner adopts a modular framework, incorporating a terrain elevation model, an articulated vehicle kinematic model, and a posture response model. These models collaboratively capture the dynamic interactions between the vehicle and the terrain. The planner utilizes a multi-objective evaluation function to enhance the vehicle's 3D motion stability, especially in challenging terrains. By considering real-time vehicle-terrain interactions, this function estimates and optimizes the vehicle's stability. The planner's effectiveness is validated through field tests with a scaled-down ACV prototype, demonstrating significant improvements in stability and confirming its potential for practical application on unstructured terrains.

中文翻译：

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用于非结构化环境中铰接式工程车辆的地形自适应运动规划器


在本文中，地形自适应运动规划器专为铰接式工程车辆 （ACV） 开发，以解决非结构化建筑工地上由海拔变化引起的不稳定问题，这是传统 2D 运动规划器难以有效管理的挑战。拟议的规划器采用模块化框架，包括地形高程模型、铰接式车辆运动学模型和姿态响应模型。这些模型协同捕获车辆与地形之间的动态交互。规划器利用多目标评估功能来增强车辆的 3D 运动稳定性，尤其是在具有挑战性的地形中。通过考虑实时车辆与地形的交互，此功能可以估计和优化车辆的稳定性。通过使用缩小的 ACV 原型进行现场测试，验证了规划器的有效性，证明了稳定性的显著提高，并证实了其在非结构化地形上实际应用的潜力。