Backward Path Tracking Control for Mobile Robot with Three Trailers

Cheng, Jianhua; Wang, Bin; Xu, Yuan

doi:10.1007/978-3-319-70136-3_4

Cited by 6 publications

(9 citation statements)

References 9 publications

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“…Tractor-trailer setup poses an additional challenge for automated freight transport. Conventional control methods such as feedback linearization [102] and fuzzy control [103] were used for path tracking without considering the jackknifing constraint. The possibility of jackknifing, the collision of the truck and the trailer with each other, increases the difficulty of the task [104].…”

Section: ) Radarmentioning

confidence: 99%

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

et al. 2020

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Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions: localization, mapping, perception, planning, and human machine interface, were thoroughly reviewed. Furthermore, the state-of-the-art was implemented on our own platform and various algorithms were compared in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS

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Section: ) Radarmentioning

confidence: 99%

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

et al. 2020

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“…Some approaches use geometrical coordinate transformations to make the control algorithms simpler and allow for the application of methods used for forward driving [7,8]. Other methods solve the nonlinear backing control problem directly, by utilizing concepts of artificial neural network controllers [9][10][11][12], nonlinear feedback stabilization [13][14][15], fuzzy control and systems [16][17][18], or explicit Model Predictive Control [19,20]. The control methods may vary based on the location of the hitch, with on-axle hitch vehicles being differentially flat, while off-axle hitch vehicles are not.…”

Section: Related Workmentioning

confidence: 99%

“…[ [16][17][18] Fuzzy Control and Systems It does not depend on precise mathematical models [19,20] Model Predictive Control Compensates for the uncertainty of the system [25][26][27][28][29][30]33,34] Sliding Mode Control Robust Control for systems subject to uncertainties and disturbance.…”

Section: Referencesmentioning

confidence: 99%

Sliding Mode Controller for Autonomous Tractor-Trailer Vehicle Reverse Path Tracking

Bin Salamah

2023

Applied Sciences

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In the past few years, there has been a growing interest among researchers in developing control systems for autonomous vehicles, specifically for tractor-trailer systems. This newfound interest is driven by the potential benefits of enhancing safety, reducing costs, and addressing labor shortages in the industry. Two industries that could reap the rewards of these systems’ advancements are cargo and agriculture transportation. One of the challenging tasks for the truck trailer vehicle is driving in reverse. Backward path tracking of tractor-trailers is a complex control problem with practical applications. The difficulty in controlling the vehicle arises due to its unstable internal dynamics, coupled nonlinear terms, and the under-actuated nature of the system. There is also a limit to the angle at which the steering can be turned before the risk of a jackknife accident increases significantly. In response to these challenges, this paper introduces a robust sliding mode controller designed for path tracking in reverse-driving tractor-trailer systems. The novelty of our work lies in addressing these challenges, which have not been extensively studied in the past. The proposed controller is analyzed, and its performance is tested and verified using different scenarios. The simulation examples show superior control performance, and we anticipate that this novel controller holds the potential to be widely adopted as a fundamental component in the path-tracking algorithms of autonomous truck trailer systems.

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“…The governor was tested on three different controllers (proportional integral controller, a sliding mode controller and a neural network controller) in [10]. Fuzzy controllers were used in [11][12][13] to control a tractor-trailer, a tractor and two trailers system and a mobile robot with three trailers, respectively, in reverse motion. A simple control law for backing a tractor-trailer used in path following was proposed in [14].…”

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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Backward Path Tracking Control for Mobile Robot with Three Trailers

Cited by 6 publications

References 9 publications

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

Sliding Mode Controller for Autonomous Tractor-Trailer Vehicle Reverse Path Tracking

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

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