Trajectory Planning of Semi-Trailer Truck Vehicle Based on Algebraic General Trajectory Formula

The present group previously derived an algebraic general trajectory formula (GTF) for semi-trailer trucks based on six parameters relating to the truck size and truck turning situation. The present study proposes a trajectory planning method based on the GTF which ensures that several arbitrarily-chosen points on the truck pass sequentially through a set of user-defined target points along the required path. An illustrative example is provided to demonstrate the effectiveness of the proposed method. The results confirm that the trajectory planning method provides an effective, accurate, and simple methodology for planning the motion path of semi-trailer trucks.