Paper Info
Title
Steering Limitations for a Vehicle Pulling Passive Trailers
Abstract
Motion control of articulated vehicles composed of a nonholonomic tractor and several passive trailers is a difficult underactuated problem. This paper proposes the application of steering limitations to the tractor to avoid inter unit collision during forward motion. This method can be used for systems that combine any type of on-axle and off-axle joints. We propose an algorithm to compute curvature bounds based on the analysis of steady and transient responses. These limitations can be introduced at the path tracking and path planning levels for autonomous navigation. Thus, the tractor can be controlled to follow admissible paths much in the same way as when it does not tow any trailer. The method has been validated experimentally with an off-axle two-trailer setup attached to the tracked mobile robot Auriga-alpha.
Year
DOI
Venue
2008
10.1109/TCST.2007.916293
Control Systems Technology, IEEE Transactions
Keywords
Field
DocType
collision avoidance,mobile robots,motion control,position control,robot kinematics,vehicles,Auriga-alpha mobile robot,articulated vehicles,autonomous navigation,motion control,nonholonomic tractor,passive trailer pulling vehicles,path planning,path tracking,Articulated vehicles,kinematics,mobile robots,path tracking,underactuated systems
Motion planning,Motion control,Semi-trailer,Articulated vehicle,Control theory,Control engineering,Underactuation,Nonholonomic system,Tractor,Mobile robot,Mathematics
Journal
Volume
Issue
ISSN
16
4
1063-6536
Citations 
PageRank 
References 
12
0.67
11
Authors
4
Name
Order
Citations
PageRank
Jorge Martínez19517.02
JesÚs Morales2120.67
Mandow, A.3201.89
Alfonso Garc'ia-Cerezo4516.08