Steering Limitations for a Vehicle Pulling Passive Trailers

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 sys...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2008-07, Vol.16 (4), p.809-818
Main Authors: Martinez, J.L., Morales, J., Mandow, A., Garcia-Cerezo, A.
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Applied sciences
Articulated vehicles
Axles
Computer science
control theory
systems
Control systems
Control theory. Systems
Curvature
Exact sciences and technology
Kinematics
Mathematical analysis
Mobile robots
Motion control
Navigation
path tracking
Remotely operated vehicles
Robotics
Robots
Stability
Steering
Tractors
Trailers
Transient analysis
underactuated systems
Vehicles
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Summary: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.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2007.916293