New algorithms for navigating a gantry tractor comprising a chorus line of synchronized modules

IEEE Transactions on Industrial Electronics

Volumn 58, Issue 2, 2011, Pages 398-402

  Percy, Andrew ^a   Spark, Ian J ^a   Ibrahim, M Yousef ^a  

^a UNIVERSITY OF BALLARAT   (Australia)

Author keywords

Control systems; robot kinematics; tracking

Indexed keywords

ANALYTICAL ALGORITHMS; ANALYTICAL SOLUTIONS; CENTER OF CURVATURE; FOUR-WHEEL DRIVES; FOUR-WHEEL-STEERING; INDUSTRIAL TECHNOLOGY; NUMERICAL ALGORITHMS; PASSIVE JOINTS; REAL-TIME CALCULATIONS; ROBOT KINEMATICS; SINGLE MODULES; SNAKE-LIKE ROBOT; TRACKING; TRANSPORT MODES; WHEEL SPEED;

APPROXIMATION ALGORITHMS; CONTROL SYSTEMS; KINEMATICS; MATHEMATICAL OPERATORS; REMOTE CONTROL; ROBOTS; STEERING; TRACTORS (AGRICULTURAL); TRACTORS (TRUCK);

WHEELS;

EID: 78651372011     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2009.2035995     Document Type: Article

References (19)

1. E. Balcerak, T. Weidenfeller, and D. Zobel, "Assessing the maneuverability of tractor trailer systems in heavy goods transport," in Proc. IEEE Intell. Veh. Symp., Istanbul, Turkey, 2007, pp. 511-516.
2. P. Fancher and C. Winkler, "Directional performance issues in evaluation and design of heavy articulated vehicles," Veh. Syst. Dyn., vol. 45, no. 7/8, pp. 607-647, Jul. 2007.
3. G. N. Davrazos, S. A. Manesis, and N. T. Koussoulas, "Controller design and validation for off-tracking elimination in multi-articulated vehicles," Syst. Sci., vol. 27, no. 4, pp. 129-136, 2001.
4. V. Deligiannis, G. Davrazos, S. Manesis, and N. Koulssoulas, "Visualisation simulation of off-tracking elimination in the n-trailer problem," in Proc. 11th Mediterranean Conf. Control Autom., Rhodes, Greece, 2003.
5. V. Deligiannis and G. D. S. Manesis, "Flatness conservation in the n-trailer system equipped with a sliding kingpin mechanism," J. Intell. Robot. Syst., vol. 46, no. 2, pp. 151-162, Jun. 2006.
6. S. Manesis, N. T. Koussoulas, and G. N. Davrazos, "On the suppression of off-tracking in multi-articulated vehicles through a movable junction technique," J. Intell. Robot. Syst., vol. 37, no. 3, pp. 399-414, Aug. 2003.
7. S. A. Manesis, "Off-tracking elimination in road trains of heavy duty trucks with multiple semi-trailers," in Proc. 8th IFAC/IFORS/ IMAC/IFIP Symp., 1999, vol. 1, pp. 355-359.
8. T. Kaneko, H. Iizuka, and I. Kageyama, "Steering control for advanced guideway bus system with all wheel steering system," Veh. Syst. Dyn., vol. 44, pp. 741-749, 2006.
9. K. Rangavajhula and H. S. J. Tsao, "Active trailer steering control of an articulated system with a tractor and three full trailers for tractor-track following," Int. J. Heavy Veh. Syst., vol. 14, no. 3, pp. 271-293, 2007.
10. D. de Bruin and P. P. J. van den Bosch, "Modelling of a double articulated vehicle with four steerable axles," in Proc. Amer. Control Conf., 1999, vol. 5, pp. 3250-3254.
11. M. T. K. Watanabe, J. Yamakawa, and T. Sasaki, "Turning characteristics of multi-axle vehicles," J. Terramechs., vol. 44, no. 1, pp. 81-87, Jan. 2007.
12. M. Y. Ibrahim, I. J. Spark, and A. Percy, "New control concept for a gantry tractor comprising a chorus line of synchronised modules," IEEE Trans. Ind. Electron., vol. 57, no. 2, pp. 762-768, Feb. 2010.
13. S. Hirose and H. Yamada, "Snake-like robots: Machine design of biologically inspired robots," IEEE Robot. Autom. Mag., vol. 16, no. 1, pp. 88- 98, 2009.
14. K. Matsushita and T. Murakami, "Nonholonomic equivalent disturbance based backward motion control of tractor-trailer with virtual steering," IEEE Trans. Ind. Electron., vol. 55, no. 1, pp. 280-287, Jan. 2008.
15. H. O. Kazuo Tanaka, Kenji Yamauchi, and H. O.Wang, "Sensor reduction for backing-up control of a vehicle with triple trailers," IEEE Trans. Ind. Electron., vol. 56, no. 2, pp. 497-509, Feb. 2009.
16. K.-P. C. L. Michael Chueh, Y. L.W. A. Yeung, and S. S. Joshi, "Following controller for autonomous mobile robots using behavioral cues," IEEE Trans. Ind. Electron., vol. 55, no. 8, pp. 3124-3132, Aug. 2008.
17. I. J. Spark and M. Y. Ibrahim, "Integrated mechatronics solution to maximize tractability and efficiency of wheeled vehicles," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatronics, B. Siciliano, Ed., Como, Italy, Jul. 2001, pp. 320-325.
18. A. Percy, I. J. Spark, and M. Y. Ibrahim, "On-line determination of wheel angles and speeds for manoeuvrable gantry tractor comprising a 'chorus line' of synchronised modules," in Proc. IEEE Int. Conf. Ind. Technol., Gippsland, Australia, Feb. 2009, pp. 1-6.
19. H. E. S. Jeroen Ploeg and H. Nijmeijer, "Position control of a wheeled mobile robot including tire behavior," IEEE Trans. Intell. Transp. Syst., vol. 10, no. 3, pp. 523-533, Sep. 2009.