A symplectic method for trajectory planning of general tractor-trailer systems

Haijun Peng,Boyang Shi,Jiurun Song,Xinwei Wang

Applied Mathematical Modelling（2023）

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摘要

•A unified motion description approach for general tractor-trailer systems is established.•For the general formulation of trajectory planning of tractor-trailer systems, a symplectic solution method is proposed.•The proposed method outperforms pseudospectral methods in computational efficiency, accuracy, and robustness to initial guesses.

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关键词

Trajectory planning,Tractor-trailer systems,Optimal control,Symplectic method,Differential-algebraic equations

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