Estimation of trailer off-tracking using visual odometry

Saxe, Christopher C De; Cebon, David

doi:10.1080/00423114.2018.1484498

Cited by 13 publications

(5 citation statements)

References 20 publications

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“…Different methods than RTK-GNSS for path tracking are used preferably in GNSS-denied environments because these methods had a lower accuracy (e.g., IMU), are more costly and of hard installation (e.g., LiDAR odometry), and of difficult calibration (camera based systems) [14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

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Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Martelloni

Fontanelli

Pieri³

et al. 2019

Agronomy

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Before the introduction of positioning technologies in agriculture practices such as global navigation satellite systems (GNSS), data collection and management were time-consuming and labor-intensive tasks. Today, due to the introduction of advanced technologies, precise information on the performance of agricultural machines, and smaller autonomous vehicles such as robot mowers, can be collected in a relatively short time. The aim of this work was to track the performance of a robot mower in various turfgrass areas of an equal number of square meters but with four different shapes by using real-time kinematic (RTK)-GNSS devices, and to easily extract data by a custom built software capable of calculating the distance travelled by the robot mower, the forward speed, the cutting area, and the number of intersections of the trajectories. These data were then analyzed in order to provide useful functioning information for manufacturers, entrepreneurs, and practitioners. The path planning of the robot mower was random and the turfgrass area for each of the four shapes was 135 m2 without obstacles. The distance travelled by the robot mower, the mean forward speed, and the intersections of the trajectories were affected by the interaction between the time of cutting and the shape of the turfgrass. For all the different shapes, the whole turfgrass area was completely cut after two hours of mowing. The cutting efficiency decreased by increasing the time, as a consequence of the increase in overlaps. After 75 minutes of cutting, the efficiency was about 35% in all the turfgrass areas shapes, thus indicating a high level of overlapping.

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Section: Introductionmentioning

confidence: 99%

“…Inverse-transformed means and 95% confidence intervals of the number of intersections of the robot mower trajectories in the different turfgrass area shapes (square, rectangle, triangle, and circle) at15,30,45, 60, 75, 90, 105, and 120 min from the start of the cutting.…”

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confidence: 99%

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Martelloni

Fontanelli

Pieri³

et al. 2019

Agronomy

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“…The foremost inspiration in the research on formation control for a flock of tractor-trailer robots is the increase of transportation volume in a cost-effective way in load carriage, crop harvesting, material collecting, delivery system, and logistical cooperation. 18,[33][34][35] Many researchers have studied tractor-trailer systems with an on-axle hitching, but only a few have focused on the off-axle hitched trailer system 36 due to its kinematic structure, which is highly complicated. As such, the coupling between the tractor and trailer increases the nonlinearity and complexity of kinematic equations and compound the difficulty in the analysis and controller design.…”

Section: Related Workmentioning

confidence: 99%

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Raj¹,

Raghuwaiya²,

Sharma³

et al. 2021

Robotica

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SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

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“…Another issue that such long vehicles ordinarily encounter is a phenomenon named off-tracking. Off-tracking is when the rear trailer axle travels in a different path from the path of the tractor steering axle [17]. In the context of a high-speed lane change, the last trailer that experiences transient off-tracking travels inward, subsequently outward of the tractor path [14].…”

Section: Multi-trailer Trucksmentioning

confidence: 99%

Comparative Analysis of Emergency Evasive Steering for Long Combination Vehicles

Chen¹,

Zhang²,

Ahmadian³

2020

SAE Int. J. Commer. Veh.

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This study provides a simulation-based comparative analysis of the distance and time needed for long combination vehicles (LCVs)namely, A-doubles with 28-, 33-, and 48-ft trailers-to safely exercise an emergency, evasive steering maneuver such as required for obstacle avoidance. The results are also compared with conventional tractorsemitrailers with a single 53-ft trailer. A multi-body dynamic model for each vehicle combination is developed in TruckSim® with an attempt to assess the last point to steer (LPTS) and evasive time (ET) at various highway speeds under both dry and wet road conditions. The results indicate that the minimum avoidance distance and time required for the 28-ft doubles vary from 206 ft (60 mph) to 312 ft (80 mph) and 2.3s to 2.6s, respectively. The required LPTS represents a 6 to 31% increase when compared with 53-ft semitrucks. When driving below 76 mph on a dry road and below 75 mph on a wet road, the 28-ft doubles exhibit LPTS and ET that are larger than 33-ft doubles. In addition, the 33-ft doubles exhibit larger LPTS and ET than 48-ft doubles for the highway speeds considered. This is mainly attributed to the longer trailer wheelbase that causes smaller rear trailer amplifications. At speeds higher than 76 mph on dry roads and 75 mph on wet roads, however, an opposite trend is observed. As the trailer length increases, the distance and time needed to safely avoid an obstacle also increase. A comparison between dry and wet road conditions is also conducted, with the results indicating that more time and distance would be needed for obstacle avoidance on wet roads.

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Estimation of trailer off-tracking using visual odometry

Cited by 13 publications

References 20 publications

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Comparative Analysis of Emergency Evasive Steering for Long Combination Vehicles

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