TY - GEN
T1 - Two-Stage AL-iLQR-Based Trajectory Planning for Special-Shaped Curb Cleaning of Sweeper
AU - Lin, Ke
AU - Li, Yanjie
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This study addresses the challenge of generating a contiguous sweeping line along an irregular curb edge. The primary method involves utilizing the curb edge line and applying a translation process to it. Subsequently, a higher-order filter is employed to smooth the resulting curve. The curve is then segmented based on curvature, with spiral and Reeds-Shepp curves used to connect the segmented parts. Finally, the entire trajectory is smoothed using the Augmented Lagrangian-iLQR (AL-iLQR) algorithm, yielding the final curve for the sweeping line. This approach ensures a precise and optimized path for cleaning along the irregular curb edge.
AB - This study addresses the challenge of generating a contiguous sweeping line along an irregular curb edge. The primary method involves utilizing the curb edge line and applying a translation process to it. Subsequently, a higher-order filter is employed to smooth the resulting curve. The curve is then segmented based on curvature, with spiral and Reeds-Shepp curves used to connect the segmented parts. Finally, the entire trajectory is smoothed using the Augmented Lagrangian-iLQR (AL-iLQR) algorithm, yielding the final curve for the sweeping line. This approach ensures a precise and optimized path for cleaning along the irregular curb edge.
UR - https://www.scopus.com/pages/publications/105016116549
U2 - 10.1109/ICCA65672.2025.11129802
DO - 10.1109/ICCA65672.2025.11129802
M3 - 会议稿件
AN - SCOPUS:105016116549
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 280
EP - 285
BT - 2025 IEEE 19th International Conference on Control and Automation, ICCA 2025
PB - IEEE Computer Society
T2 - 19th IEEE International Conference on Control and Automation, ICCA 2025
Y2 - 30 June 2025 through 3 July 2025
ER -