Motion Planning for Multi-Axle Eteered Commercial Vehicles Based on Point Clouds Using the A* Algorithm

Maneuvering long commercial vehicles consisting of a truck-loader combination is often a chal-lenge, even for experienced drivers. The degrees of freedom of commercial vehicles are usu-ally not fully exploited, which is why the bottlenecks are declared as not passable and another path is chosen. In the future, it should be possible to use simulations to check in advance whether a bottleneck is passable and, if so, what the optimal path looks like. The simulated optimal path should support the driver in successfully maneuvering the vehicle through the bottleneck. This paper outlines and discusses a procedure that guarantees the collision-free maneuvering through bottlenecks, when given the technical requirements. For the implemen-tation, a motion planning algorithm from mobile robotics is used, which is extended by the kinematics of freely steered axes.