Effects of Sensor Placement and Errors on Path Following Control of a Mobile Robot-Trailer System

Abstract

In this paper, effects of sensor location and measurement errors on path tracking control of a mobile robot pulling a trailer are reported. A model for a two-wheeled robot towing a trailer is presented, followed by a state feedback controller designed to position the trailer along a path consisting of lines and circular arcs. An incremental encoder is used to measure the hitch angle between the robot and trailer. A combined GPS/IMU system is used to measure position and orientation of either the robot or the trailer (but not both). The choice of mounting location for the GPS/IMU system, and consequent effects on trailer path tracking performance are explored. The sensitivity of the system to hitch angle errors is also examined for both cases. It is shown that the system is less sensitive to errors in the hitch angle measurement when the GPS/IMU system is located on the trailer.

Robust control strategy for generalized N-trailer vehicles based on a dual-stage disturbance observer

“…For implementation in field conditions, feedback errors due to noisy or inaccurate sensor readings are important issues to be solved Myoungkuk et al (2005). In fact, in real scale N-Trailers as those used in Morales et al (2013); Ljungqvist et al (2019); Pradalier and Usher (2008), the localization system accuracy is highly dependend on the sensor placement and the estrategy chosen to estimate the trailers orientation angles Hodo et al (2007). In consequence, a corrupted angle estimate leads to an error propagation along the vehicular chain, which means a deterioration in the closed-loop performance.…”

Design of the Optimal Path Algorithm for Line Track Robots

“…The robots could determine the running destination by wheeled running scheme according to the collected image information and the current mission. Therefore, the path tracking algorithm based on CCD sensors has a wide application prospect [5].…”