Backward path following control of an articulated vehicle

Yoshimoto, Tatsuya; Kaida, Kosuke; Fukao, Takanori; Ishiyama, Kenji; Kamiya, Tsuyoshi; Murakami, Noriyuki

doi:10.1109/sii.2013.6776654

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…To increase farming efficiency in Japan, ref. [4] has proposed a two-tier linear backward path following controller to park an autonomous tractor-trailer system with off-axle hitching. The proposed controller issues curvature commands based on the path-following error.…”

Section: Introductionmentioning

confidence: 99%

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021

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In recent years, control design for unmanned systems, especially a tractor–trailer system, has gained popularity among researchers. The emergence of such interest is caused by the potential reduction in cost and shortage of number of workers and labors. Two industries will benefit from the advancements of these types of systems: agriculture and cargo. By using the unmanned tractor–trailer system, harvesting and cultivating plants will become a safe and easy task. It will also cause a reduction in cost which in turn reduces the price on the end consumers. On the other hand, by using the unmanned tractor–trailer system in the cargo industry, shipping cost and time for the item delivery will be reduced. The work presented in this paper focuses on the development of a path tracking and a cascaded controller to control a tractor–trailer in reverse motion. The path tracking controller utilizes the Frenet–Serret frame to control the kinematics of the tractor–trailer system on a desired path, while the cascade controller’s main objective is to stabilize the system and to perform commands issued by the path tracker. The controlled parameters in this proposed design are the lateral distance to a path, trailer’s heading angel, articulated angel, and articulated angle’s rate. The main goal of such controller is to follow a path while the tractor–trailer system is moving in reverse and controlling the stability of the articulated vehicle to prevent the occurrence of a jackknife incident (uncontrolled state). The proposed controller has been tested in a different scenario where a successful implementation has been shown.

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Section: Introductionmentioning

confidence: 99%

Control Design and Assessment for a Reversing Tractor–Trailer System Using a Cascade Controller

2021

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“…However, vehicle dynamics models have been used for truck-trailer forward motion [14][15][16]. Nevertheless, there are some experiences to back up the robot like vehicle or mini farm vehicle [17,18]. The controllers have been used for backing truck up are enormous.…”

Section: Introductionmentioning

confidence: 99%