A highly scalable path-following controller for N-trailers with off-axle hitching

Michałek, Maciej Marcin

doi:10.1016/j.conengprac.2014.04.001

Cited by 45 publications

(40 citation statements)

References 49 publications

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“…By employing the cascade control approach, application of the method can be relatively easily extended for more complex kinematics of the car-like vehicles and the non-Standard N-Trailer robots, see [22] and [20], respectively.…”

Section: Discussionmentioning

confidence: 99%

“…Upon definitions (19), (20), (29), and according to the first equation of Eq. 1 one can write: e a (19) =θ a −θ (1) =θ a − u 1 (29) =θ a − ςh θ (20) =θ a − ςk a e a − ςθ an = −ςk a e a (31) where we have used the factθ a = ςθ an (see Appendix C). Defining a positive definite function…”

Section: Theoremmentioning

confidence: 99%

“…Essential geometry of planar motion for any single-body nonholonomic vehicle can be generically described by a unicycle kinematic model. As a consequence, applicability of control laws devised for the unicycle model can be relatively easily extended to more complex kinematics by employing the cascadelike control approach -see, e.g., [20,22,23].…”

Section: Introductionmentioning

confidence: 99%

“…It has been utilized in [5] in the context of the VTOL aerial vehicles, while its application to the unicycle-like wheeled robot has been presented in [26] (see also [30]) on a kinematic level, and in [8] considering both kinematics and dynamics of a vehicle. Worth to mention also works [4] and [20] presenting applications of the level curve approach to the coordinated multiple unicycles and to the N-trailer robots, respectively. This paper presents a novel solution to the PF problem for unicycle-like kinematics formulated in the VFO (Vector Field Orientation, [9]) framework and utilizing the level curve approach for definition of a reference set.…”

Section: Introductionmentioning

confidence: 99%

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VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Michałek

Gawron

2017

J Intell Robot Syst

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TheVector-Field-Orientation (VFO) method is a control design concept which was originally introduced for the unicycle kinematics to solve two classical control tasks corresponding to the trajectory tracking and set-point control problems. A unified solution to both the tasks was possible by appropriate definitions of the so-called convergence vector field. So far, there has not been a version of the VFO control law for the third classical control task concerning the path following problem, which is particularly meaningful in the context of practical applications. The paper fills this gap by presenting a novel VFO path following controller devised for robots of unicycle-like kinematics with the amplitudelimited control input. Opposite to most path following controllers proposed in the literature, the new control law utilizes the recently introduced level curve approach which does not employ any parametrization of a reference path. In this way, the proposed solution

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Section: Discussionmentioning

confidence: 99%

Section: Theoremmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Michałek

Gawron

2017

J Intell Robot Syst

Self Cite

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“…The third method is referred to as the transverse feedback linearization (TFL) method [96][97][98] (see also [99] for an extension to N-trailer robots, and [100] for a consideration of PVTOL aircraft). This method involves with conversion of the path-following problem to an input-output feedback linearization problem (cascaded with a zero dynamics problem) with respect to an appropriate output, which usually defines the reference path.…”

Section: Path Following Of Holonomic and Noholonomicmentioning

confidence: 99%

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui¹

2015

JEEE

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Abstract:In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation.

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A path planning and path‐following control framework for a general 2‐trailer with a car‐like tractor

Ljungqvist

Evestedt²,

Axehill

et al. 2019

Journal of Field Robotics

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Maneuvering a general 2‐trailer with a car‐like tractor in backward motion is a task that requires a significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path‐following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward and forward motion. A lattice‐based path planning framework is developed in order to generate kinematically feasible and collision‐free paths and a path‐following controller is designed to stabilize the lateral and angular path‐following error states during path execution. To estimate the vehicle state needed for control, a nonlinear observer is developed, which only utilizes information from sensors that are mounted on the car‐like tractor, making the system independent of additional trailer sensors. The proposed path‐planning and path‐following control framework is implemented on a full‐scale test vehicle and results from simulations and real‐world experiments are presented.

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A highly scalable path-following controller for N-trailers with off-axle hitching

Cited by 45 publications

References 49 publications

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

A path planning and path‐following control framework for a general 2‐trailer with a car‐like tractor

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