MPC-based Motion Planning for Autonomous Truck-Trailer Maneuvering

A multi-stage optimal control approach with combined MPC and linear feedback to the maneuvering of a truck-trailer autonomous mobile robot.
Mathias Bos, Bastiaan Vandewal, Wilm Decré and Jan Swevers
MECO Research Team, Department of Mechanical Engineering,
KU Leuven, Belgium (e-mail: [e-mail])
and Flanders Make @ KU Leuven, Belgium
mech.kuleuven.be/meco

[@shehabeldinhousein5875]

Interesting demonstration. How did you do the path visualization with lights like this?

[@MECO_KULeuven]

Hi! In this demo, two beamers are mounted on the ceiling. Their images are combined using an edge blending processor. The road and the planned path are projected, and visualized through Rviz. More detailed information can be found here: meco-setups.pages.gitlab.kuleuven.be/truck-trailer-amr/