A simple and efficient control scheme to reverse a tractor-trailer system on a trajectory

被引：17
|
作者：
Pradalier, Cedric [1 ]
Usher, Kane [1 ]
机构：
[1] CSIRO, ICT Ctr, Autonomous Syst Lab, Brisbane, Qld, Australia
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363648
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, we present a simple method for stabilizing a tractor-trailer system to a trajectory based on the notion of controlling the hitch-angle of the trailer rather than the steering angle of the tractor. The method is intuitive, provably stable, and shown to be viable through various experimental results conducted on our test platform, the CSIRO Autonomous Tractor.
引用
收藏
页码：2208 / +
页数：3
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