Automated Tractor System for Optimized Trajectory Planning

In trajectory planning, a time-dependent path connecting the starting and end configurations is designed while taking certain limitations into account. This procedure is essential for operating an articulated vehicle independently. Trajectory planning is presented in this study as a dynamic optimization problem including boundary conditions, kinematic differential equations, mechanical and environmental constraints, and an optimization goal. Current numerical methods for solving this problem often overlook constraint satisfaction between adjacent discretized mesh points, leading to failures when the planned motions are executed. To address this issue, the minute mesh grid concept is introduced, ensuring constraint satisfaction between adjacent rough mesh points. Large-scale constraints are integrated successfully into the optimization process by the use of precise penalty functions, which turns the dynamic optimization issue into a static one with straightforward limitations on the choice variables. Simulation findings validate that our suggested methodology produces reliable outcomes and can handle a wide range of optimization goals consistently.