Control of truck-trailer mobile robots: a survey

David, Jennifer; Manivannan, P. V.

doi:10.1007/s11370-014-0152-z

Cited by 57 publications

(32 citation statements)

References 59 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Thus, around a straight nominal path, the linearized system in (20) is marginally stable in forward motion (v > 0) because of the double integrator and unstable in backward motion (v < 0), since the system has two poles in the right half plane. Due to the positive off-axle hitching M 1 > 0, the linearized system has a zero in some of the output channels [4,43].…”

Section: Local Behavior Around a Nominal Pathmentioning

confidence: 99%

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

View full text Add to dashboard Cite

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.

show abstract

Section: Local Behavior Around a Nominal Pathmentioning

confidence: 99%

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

View full text Add to dashboard Cite

show abstract

“…That being said, the complexity of the parking problem increases significantly for a car with a trailer moving backwards. A detailed survey on the various control strategies for the backward motion of a mobile robot with trailers can be found in [27]. Formalization of control laws for such a problem requires the study of a nonlinear four-dimensional differential system with two-dimensional control which defines the linear and angular velocity.…”

Section: Geometric Formalization Of the Control Problem For A Trailermentioning

confidence: 99%

Controlling of a mobile robot with a trailer and its nilpotent approximation

Ardentov

2016

Regul. Chaot. Dyn.

View full text Add to dashboard Cite

The work studies a number of approaches to solving motion planning problem for a mobile robot with a trailer. Different control models of car-like robots are considered from the differential-geometric point of view. The same models can be also used for controlling a mobile robot with a trailer. However, in cases where the position of the trailer is of importance, i.e., when it is moving backward, a more complex approach should be applied. At the end of the article, such an approach, based on recent works in sub-Riemannian geometry, is described. It is applied to the problem of reparking a trailer and implemented in the algorithm for parking a mobile robot with a trailer.

show abstract

“…As such, in the last two decades a significant amount of effort has been devoted to developing path planning and motion control strategies for tractor-trailer mobile robots (TTMRs) in forward (i.e. pulling the trailers) and backward configurations [4] [5]. In most of these works, the control methodologies have been designed solely based on the kinematics model of the system, and thus, neglecting the effects of heavy loads, changing operating conditions, and uncertain dynamics in the performance of the TTMRs.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Model of a Differential Drive Mobile Robot Towing an Off-axle Trailer

Amezquita-Semprun¹,

Rosario²,

Chen³

2018

IJMERR

View full text Add to dashboard Cite

Indoor navigation technology has enabled the exploitation of mobile robots for transportation of goods/materials in industry facilities/warehouses. Nevertheless, the deployment of a number of mobile robots segregated to individual tasks may limit the advantages of such technology. The achievement of a solution where a mobile robot capability is enhanced by aggregating passive mechanisms (i.e. passive trailers) represents a more cost effective and versatile solution. Therefore, the analysis of safety and performance of such configuration is a step forward toward the full deployment of this kind of systems. With this work, we attempt to contribute to this field by studying of the effects of system uncertainties, disturbances and changing operating conditions on the behavior of such systems. Specifically, we model the dynamics of a mobile robot towing an off-axle trailer with two wheels configurations and then incorporate the movement of the caster wheels in the dynamics model. Such a model would enable the synthesis of robust control schemes to achieve a better tracking capability and consistent performance in real operating scenarios.

show abstract

Control of truck-trailer mobile robots: a survey

Cited by 57 publications

References 59 publications

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

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

Controlling of a mobile robot with a trailer and its nilpotent approximation

Dynamics Model of a Differential Drive Mobile Robot Towing an Off-axle Trailer

Contact Info

Product

Resources

About