Multi-roller Trajectory Planning under the Dynamic Obstacle in Pavement Construction

This paper investigates a multi-roller trajectory planning algorithm under the dynamic obstacle in pavement construction. When autonomous rollers compact the road surface, the lack of fuel in the fuel tank needs to be considered. To deal with this problem, the roller that is about to run out of oil is moved away from the working area, and at the same time, a spare roller completes the remaining work belonging to the offsite roller. The two trajectory planning methods are as follows: First, we design a cubic Bezier curve through the known state variables to find all feasible paths for the spare roller, and then, we detect the curvature of the paths and filter out paths that the roller cannot follow, and next, we filter paths that collide with the dynamic obstacle, and finally, we choose the shortest path length. The same steps are used to design the path of the roller that is about to run out of oil, except that the maximum safety distance is used in the last step instead of choosing the shortest path length. The simulation experiment shows that in the scenario of this article, the designed path has a safe distance of more than 3 meters and a length of no more than 82 meters.